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liquids.", + "Grab the solid black ceramic mug at edge contact point 0, lift the solid black ceramic mug, move it to the metal rack, hook the solid black ceramic mug onto the metal rack, and release the solid black ceramic mug.", + "Reach the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, carry the black mug with smooth surface to the metallic rack with smooth finish, hang the black mug with smooth surface on the metallic rack with smooth finish, then release the black mug with smooth surface.", + "Send the arm to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift it, carry the hand-sized black mug to the rack with angular body, hang the hand-sized black mug on the rack with angular body, and release the hand-sized black mug.", + "Direct the arm to grip the black coffee mug at edge contact point 0, pick the black coffee mug up, carry it to the dark gray angled rack, hang the black coffee mug on the dark gray angled rack, and release.", + "Grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle up, move the mug with rounded handle to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, and let go of the mug with rounded handle.", + "Reach for the solid black ceramic mug, grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug clear, place the solid black ceramic mug onto the dark gray angled rack to hang, then release the solid black ceramic mug.", + "Grab the black coffee mug at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the black coffee mug on the rack with two rods sticking out, then release the grip.", + "Hold the black coffee mug at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the black coffee mug onto the metallic rack with smooth finish to hang, then let go.", + "Approach the smooth black ceramic mug, take hold of the smooth black ceramic mug by edge contact point 0, raise it, bring it to the metal rack, hook the smooth black ceramic mug onto the metal rack, and let go.", + "Grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring the hand-sized black mug to the angled rack with long and short rods, set the hand-sized black mug onto the angled rack with long and short rods to hang, and release the hand-sized black mug.", + "Have the arm grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, bring it to the metallic angular rack with rod pair, hang the mug with rounded handle from the metallic angular rack with rod pair, then release.", + "Hold the mug with rounded handle using edge contact point 0, lift the mug with rounded handle up, bring the mug with rounded handle to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, then release.", + "With the arm, take hold of the cylindrical black mug by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the cylindrical black mug on the angled rack with long and short rods, then release.", + "Using the arm, take the solid black ceramic mug at edge contact point 0, raise the solid black ceramic mug, move to the dark gray angled rack, hook the solid black ceramic mug onto the dark gray angled rack, and release the solid black ceramic mug.", + "Grab the solid black ceramic mug at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the solid black ceramic mug onto the smooth dark gray rack so it hangs, then release the solid black ceramic mug.", + "Take the cylindrical black mug by edge contact point 0, lift it from its spot, carry the cylindrical black mug to the rack with angular body, hang the cylindrical black mug on the rack with angular body, then release the cylindrical black mug.", + "Bring the arm to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the black mug with handle on the rack with two rods sticking out, then let go.", + "Using the arm, secure the black mug with smooth surface by edge contact point 0, lift, align the black mug with smooth surface with the rack with two rods sticking out, hang the black mug with smooth surface on the rack with two rods sticking out, and let go.", + "Move the arm to the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift, carry to the dark gray angled rack, hang the mug with thick sturdy handle on the dark gray angled rack, release the mug with thick sturdy handle.", + "Grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, move it over to the rack with angular body, hook the mug with rounded handle onto the rack with angular body, and release the mug with rounded handle.", + "Grasp the drinking mug at edge contact point 0, lift the drinking mug from its spot, carry the drinking mug to the smooth rack, hang the drinking mug on the smooth rack, and release.", + "Use the arm to grab the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move over to the metal rack, hang the hand-sized black mug on the metal rack, and release the hand-sized black mug.", + "With the arm, approach the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, bring it to the rack with two rods sticking out, hang the smooth black ceramic mug on the rack with two rods sticking out, then let go.", + "Take the black mug for liquids by edge contact point 0, lift the black mug for liquids up, move the black mug for liquids in front of the rack with angular body, hang the black mug for liquids onto the rack with angular body, then release the black mug for liquids.", + "With the arm, take the black coffee mug by edge contact point 0, lift the black coffee mug clear, move to the rack with angular body, hook the black coffee mug onto the rack with angular body, then open the grip.", + "Pick up the drinking mug by edge contact point 0, move the drinking mug to the angled rack with long and short rods, hang the drinking mug on the angled rack with long and short rods, and release the drinking mug once it holds.", + "Get to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring it to the metal rack, hang the hand-sized black mug on the metal rack, and release.", + "Guide the arm to the cylindrical black mug, grip the cylindrical black mug by edge contact point 0, pick it up, move to the dark gray rack, hang the cylindrical black mug on the dark gray rack, and release.", + "Take the black coffee mug by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the black coffee mug on the angular rack with slanted support rod, and release your grip.", + "Move the arm toward the smooth black ceramic mug, grasp the smooth black ceramic mug at edge contact point 0, lift the smooth black ceramic mug, carry the smooth black ceramic mug to the smooth dark gray rack, hang the smooth black ceramic mug on the smooth dark gray rack, release the smooth black ceramic mug.", + "Use the arm to grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move toward the dark gray angled rack, hang the hand-sized black mug on the dark gray angled rack, then release the hand-sized black mug.", + "Take the black mug by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the black mug onto the metallic angular rack with rod pair so it hangs, then let go.", + "Move the arm toward the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift it, travel to the rack with angular body, place the black mug with smooth surface onto the rack with angular body to hang, then release.", + "Direct the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, move to the angled rack with long and short rods, hang the cylindrical black mug on the angled rack with long and short rods, release the grip.", + "With the arm, grasp the solid black ceramic mug by edge contact point 0, lift and transport the solid black ceramic mug to the dark gray rack, hang the solid black ceramic mug on the dark gray rack, then let go.", + "With the arm, reach the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift, align it to the medium rack with protruding rods, hang the black mug for liquids on the medium rack with protruding rods, then release the black mug for liquids.", + "Go to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the mug with rounded handle on the metallic angular rack with rod pair, and let go.", + "Grab the black mug with smooth surface at edge contact point 0, pick it up, move it over to the rack with angular body, hang the black mug with smooth surface onto the rack with angular body, and release the black mug with smooth surface.", + "Have the arm reach the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move to the metallic angular rack with rod pair, hang the hand-sized black mug on the metallic angular rack with rod pair, then open the grip.", + "Guide the arm to the hand-sized black mug, grip the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, align the hand-sized black mug with the angular rack with slanted support rod, hang the hand-sized black mug on the angular rack with slanted support rod, release the hand-sized black mug.", + "Grab the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, move it to the metallic angular rack with rod pair, hook the mug with thick sturdy handle onto the metallic angular rack with rod pair, and release the mug with thick sturdy handle.", + "Reach the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, carry the smooth black ceramic mug to the smooth dark gray rack, hang the smooth black ceramic mug on the smooth dark gray rack, then release the smooth black ceramic mug.", + "Send the arm to the black mug, grasp the black mug by edge contact point 0, lift it, carry the black mug to the dark gray rack, hang the black mug on the dark gray rack, and release the black mug.", + "Direct the arm to grip the smooth black ceramic mug at edge contact point 0, pick the smooth black ceramic mug up, carry it to the medium rack with protruding rods, hang the smooth black ceramic mug on the medium rack with protruding rods, and release.", + "Grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids up, move the black mug for liquids to the angled rack with long and short rods, hang the black mug for liquids on the angled rack with long and short rods, and let go of the black mug for liquids.", + "Reach for the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug clear, place the smooth black ceramic mug onto the angled rack with long and short rods to hang, then release the smooth black ceramic mug.", + "Grab the drinking mug at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the drinking mug on the rack with two rods sticking out, then release the grip.", + "Hold the drinking mug at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the drinking mug onto the rack with two rods sticking out to hang, then let go.", + "Approach the smooth black ceramic mug, take hold of the smooth black ceramic mug by edge contact point 0, raise it, bring it to the rack with angular body, hook the smooth black ceramic mug onto the rack with angular body, and let go.", + "Grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring the mug with thick sturdy handle to the angled rack with long and short rods, set the mug with thick sturdy handle onto the angled rack with long and short rods to hang, and release the mug with thick sturdy handle.", + "Have the arm grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring it to the rack with angular body, hang the black mug for liquids from the rack with angular body, then release.", + "Hold the mug with rounded handle using edge contact point 0, lift the mug with rounded handle up, bring the mug with rounded handle to the angular rack with slanted support rod, hang the mug with rounded handle on the angular rack with slanted support rod, then release.", + "With the arm, take hold of the smooth black ceramic mug by edge contact point 0, pick it up, bring it to the metal rack, hang the smooth black ceramic mug on the metal rack, then release.", + "Using the arm, take the drinking mug at edge contact point 0, raise the drinking mug, move to the rack with two rods sticking out, hook the drinking mug onto the rack with two rods sticking out, and release the drinking mug.", + "Grab the cylindrical black mug at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the cylindrical black mug onto the smooth dark gray rack so it hangs, then release the cylindrical black mug.", + "Take the black mug by edge contact point 0, lift it from its spot, carry the black mug to the rack with two rods sticking out, hang the black mug on the rack with two rods sticking out, then release the black mug.", + "Bring the arm to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the black mug with handle on the metallic rack with smooth finish, then let go.", + "Using the arm, secure the solid black ceramic mug by edge contact point 0, lift, align the solid black ceramic mug with the metallic angular rack with rod pair, hang the solid black ceramic mug on the metallic angular rack with rod pair, and let go.", + "Move the arm to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift, carry to the dark gray rack, hang the hand-sized black mug on the dark gray rack, release the hand-sized black mug.", + "Grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move it over to the smooth dark gray rack, hook the smooth black ceramic mug onto the smooth dark gray rack, and release the smooth black ceramic mug.", + "Grasp the black mug with smooth surface at edge contact point 0, lift the black mug with smooth surface from its spot, carry the black mug with smooth surface to the rack with two rods sticking out, hang the black mug with smooth surface on the rack with two rods sticking out, and release.", + "Use the arm to grab the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, move over to the rack with two rods sticking out, hang the mug with rounded handle on the rack with two rods sticking out, and release the mug with rounded handle.", + "With the arm, approach the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring it to the angled rack with long and short rods, hang the mug with thick sturdy handle on the angled rack with long and short rods, then let go.", + "Take the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug up, move the solid black ceramic mug in front of the metallic angular rack with rod pair, hang the solid black ceramic mug onto the metallic angular rack with rod pair, then release the solid black ceramic mug.", + "With the arm, take the black coffee mug by edge contact point 0, lift the black coffee mug clear, move to the angled rack with long and short rods, hook the black coffee mug onto the angled rack with long and short rods, then open the grip.", + "Pick up the black mug with smooth surface by edge contact point 0, move the black mug with smooth surface to the dark gray rack, hang the black mug with smooth surface on the dark gray rack, and release the black mug with smooth surface once it holds.", + "Get to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring it to the metallic rack with smooth finish, hang the hand-sized black mug on the metallic rack with smooth finish, and release.", + "Guide the arm to the black mug with handle, grip the black mug with handle by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the black mug with handle on the angled rack with long and short rods, and release.", + "Take the mug with thick sturdy handle by edge contact point 0, lift it off the surface, move it to the metal rack, hang the mug with thick sturdy handle on the metal rack, and release your grip.", + "Move the arm toward the mug with rounded handle, grasp the mug with rounded handle at edge contact point 0, lift the mug with rounded handle, carry the mug with rounded handle to the rack with angular body, hang the mug with rounded handle on the rack with angular body, release the mug with rounded handle.", + "Use the arm to grasp the black coffee mug by edge contact point 0, lift the black coffee mug, move toward the angular rack with slanted support rod, hang the black coffee mug on the angular rack with slanted support rod, then release the black coffee mug.", + "Take the black mug by edge contact point 0, lift it, bring it over to the dark gray rack, place the black mug onto the dark gray rack so it hangs, then let go.", + "Move the arm toward the black mug, grasp the black mug by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the black mug onto the rack with two rods sticking out to hang, then release.", + "Direct the arm to the black coffee mug, grasp the black coffee mug by edge contact point 0, lift the black coffee mug clear, move to the dark gray angled rack, hang the black coffee mug on the dark gray angled rack, release the grip.", + "With the arm, grasp the hand-sized black mug by edge contact point 0, lift and transport the hand-sized black mug to the metal rack, hang the hand-sized black mug on the metal rack, then let go.", + "With the arm, reach the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift, align it to the dark gray rack, hang the cylindrical black mug on the dark gray rack, then release the cylindrical black mug.", + "Go to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the mug with rounded handle on the metallic angular rack with rod pair, and let go.", + "Grab the smooth black ceramic mug at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the smooth black ceramic mug onto the dark gray angled rack, and release the smooth black ceramic mug.", + "Have the arm reach the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move to the metal rack, hang the smooth black ceramic mug on the metal rack, then open the grip.", + "Guide the arm to the hand-sized black mug, grip the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, align the hand-sized black mug with the metallic angular rack with rod pair, hang the hand-sized black mug on the metallic angular rack with rod pair, release the hand-sized black mug.", + "Grab the black mug at edge contact point 0, lift the black mug, move it to the metallic rack with smooth finish, hook the black mug onto the metallic rack with smooth finish, and release the black mug.", + "Reach the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, carry the black mug for liquids to the metallic angular rack with rod pair, hang the black mug for liquids on the metallic angular rack with rod pair, then release the black mug for liquids.", + "Send the arm to the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift it, carry the smooth black ceramic mug to the metallic rack with smooth finish, hang the smooth black ceramic mug on the metallic rack with smooth finish, and release the smooth black ceramic mug.", + "Direct the arm to grip the mug with thick sturdy handle at edge contact point 0, pick the mug with thick sturdy handle up, carry it to the angled rack with long and short rods, hang the mug with thick sturdy handle on the angled rack with long and short rods, and release.", + "Grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle up, move the mug with rounded handle to the smooth dark gray rack, hang the mug with rounded handle on the smooth dark gray rack, and let go of the mug with rounded handle.", + "Reach for the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle clear, place the mug with thick sturdy handle onto the metallic angular rack with rod pair to hang, then release the mug with thick sturdy handle.", + "Grab the drinking mug at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the drinking mug on the dark gray angled rack, then release the grip.", + "Hold the smooth black ceramic mug at edge contact point 0, lift it up, move toward the dark gray angled rack, place the smooth black ceramic mug onto the dark gray angled rack to hang, then let go.", + "Approach the black mug, take hold of the black mug by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the black mug onto the rack with two rods sticking out, and let go.", + "Grasp the black mug with handle by edge contact point 0, lift the black mug with handle, bring the black mug with handle to the smooth rack, set the black mug with handle onto the smooth rack to hang, and release the black mug with handle.", + "Have the arm grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring it to the metallic rack with smooth finish, hang the hand-sized black mug from the metallic rack with smooth finish, then release.", + "Hold the smooth black ceramic mug using edge contact point 0, lift the smooth black ceramic mug up, bring the smooth black ceramic mug to the rack with angular body, hang the smooth black ceramic mug on the rack with angular body, then release.", + "With the arm, take hold of the mug with rounded handle by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the mug with rounded handle on the metallic angular rack with rod pair, then release.", + "Using the arm, take the solid black ceramic mug at edge contact point 0, raise the solid black ceramic mug, move to the angled rack with long and short rods, hook the solid black ceramic mug onto the angled rack with long and short rods, and release the solid black ceramic mug.", + "Grab the solid black ceramic mug at edge contact point 0, raise it, guide it to the smooth rack, set the solid black ceramic mug onto the smooth rack so it hangs, then release the solid black ceramic mug.", + "Take the cylindrical black mug by edge contact point 0, lift it from its spot, carry the cylindrical black mug to the metallic angular rack with rod pair, hang the cylindrical black mug on the metallic angular rack with rod pair, then release the cylindrical black mug.", + "Bring the arm to the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the mug with thick sturdy handle on the metallic angular rack with rod pair, then let go.", + "Using the arm, secure the black mug for liquids by edge contact point 0, lift, align the black mug for liquids with the smooth rack, hang the black mug for liquids on the smooth rack, and let go.", + "Move the arm to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the black mug with smooth surface on the angular rack with slanted support rod, release the black mug with smooth surface." + ], + "unseen": [ + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go of the medium black mug.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go of the medium black mug.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release the medium black mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go of the medium black mug.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release the matte black mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode1.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..9f6acf6c3d297f3193adce700e0d984c8276c23e --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Send the arm to the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift it, carry the drinking mug with smooth body to the dark gray rack, hang the drinking mug with smooth body on the dark gray rack, and release the drinking mug with smooth body.", + "Hold the light brown mug with handle using edge contact point 0, lift the light brown mug with handle up, bring the light brown mug with handle to the dark gray rack, hang the light brown mug with handle on the dark gray rack, then release.", + "Take the brown mug by edge contact point 0, lift the brown mug up, move the brown mug in front of the rack with angular body, hang the brown mug onto the rack with angular body, then release the brown mug.", + "Direct the arm to the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body clear, move to the medium rack with protruding rods, hang the drinking mug with smooth body on the medium rack with protruding rods, release the grip.", + "Get to the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, bring it to the dark gray rack, hang the mug for holding liquid on the dark gray rack, and release.", + "Bring the arm to the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the light brown mug with handle on the metallic rack with smooth finish, then let go.", + "With the arm, approach the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, bring it to the medium rack with protruding rods, hang the light brown mug with handle on the medium rack with protruding rods, then let go.", + "Take the light brown mug with handle by edge contact point 0, lift it from its spot, carry the light brown mug with handle to the metallic angular rack with rod pair, hang the light brown mug with handle on the metallic angular rack with rod pair, then release the light brown mug with handle.", + "Using the arm, secure the light brown mug with handle by edge contact point 0, lift, align the light brown mug with handle with the angled rack with long and short rods, hang the light brown mug with handle on the angled rack with long and short rods, and let go.", + "Grab the brown medium-sized ceramic mug at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the brown medium-sized ceramic mug on the smooth dark gray rack, then release the grip.", + "Direct the arm to grip the brown medium-sized ceramic mug at edge contact point 0, pick the brown medium-sized ceramic mug up, carry it to the metallic angular rack with rod pair, hang the brown medium-sized ceramic mug on the metallic angular rack with rod pair, and release.", + "Pick up the mug for holding liquid by edge contact point 0, move the mug for holding liquid to the metal rack, hang the mug for holding liquid on the metal rack, and release the mug for holding liquid once it holds.", + "Move the arm toward the medium-sized mug, grasp the medium-sized mug at edge contact point 0, lift the medium-sized mug, carry the medium-sized mug to the angular rack with slanted support rod, hang the medium-sized mug on the angular rack with slanted support rod, release the medium-sized mug.", + "Reach the brown medium-sized ceramic mug, grasp the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug, carry the brown medium-sized ceramic mug to the rack with two rods sticking out, hang the brown medium-sized ceramic mug on the rack with two rods sticking out, then release the brown medium-sized ceramic mug.", + "With the arm, take the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug clear, move to the rack with two rods sticking out, hook the brown medium-sized ceramic mug onto the rack with two rods sticking out, then open the grip.", + "Go to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the medium-sized mug on the angular rack with slanted support rod, and let go.", + "Have the arm reach the mug with curved handle, grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle, move to the metallic rack with smooth finish, hang the mug with curved handle on the metallic rack with smooth finish, then open the grip.", + "Reach for the brown mug, grasp the brown mug by edge contact point 0, lift the brown mug clear, place the brown mug onto the angled rack with long and short rods to hang, then release the brown mug.", + "With the arm, grasp the ceramic mug by edge contact point 0, lift and transport the ceramic mug to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, then let go.", + "Using the arm, take the mug for holding liquid at edge contact point 0, raise the mug for holding liquid, move to the medium rack with protruding rods, hook the mug for holding liquid onto the medium rack with protruding rods, and release the mug for holding liquid.", + "Take the mug for holding liquid by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the mug for holding liquid onto the medium rack with protruding rods so it hangs, then let go.", + "Approach the mug with curved handle, take hold of the mug with curved handle by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the mug with curved handle onto the angular rack with slanted support rod, and let go.", + "Guide the arm to the brown mug for drinking, grip the brown mug for drinking at edge contact point 0, lift the brown mug for drinking, align the brown mug for drinking with the metal rack, hang the brown mug for drinking on the metal rack, release the brown mug for drinking.", + "Grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle up, move the mug with curved handle to the angular rack with slanted support rod, hang the mug with curved handle on the angular rack with slanted support rod, and let go of the mug with curved handle.", + "Take the hand-held ceramic mug by edge contact point 0, lift it off the surface, move it to the metal rack, hang the hand-held ceramic mug on the metal rack, and release your grip.", + "Grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, move it over to the dark gray angled rack, hook the medium-sized mug onto the dark gray angled rack, and release the medium-sized mug.", + "Have the arm grasp the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug, bring it to the metal rack, hang the brown medium-sized ceramic mug from the metal rack, then release.", + "Grab the light brown mug at edge contact point 0, lift the light brown mug, move it to the angled rack with long and short rods, hook the light brown mug onto the angled rack with long and short rods, and release the light brown mug.", + "Grasp the light brown mug at edge contact point 0, lift the light brown mug from its spot, carry the light brown mug to the angular rack with slanted support rod, hang the light brown mug on the angular rack with slanted support rod, and release.", + "Use the arm to grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body, move toward the smooth rack, hang the drinking mug with smooth body on the smooth rack, then release the drinking mug with smooth body.", + "With the arm, reach the brown medium-sized ceramic mug, grasp the brown medium-sized ceramic mug by edge contact point 0, lift, align it to the smooth rack, hang the brown medium-sized ceramic mug on the smooth rack, then release the brown medium-sized ceramic mug.", + "Grab the brown mug for drinking at edge contact point 0, raise it, guide it to the metal rack, set the brown mug for drinking onto the metal rack so it hangs, then release the brown mug for drinking.", + "Grab the light brown mug at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the light brown mug onto the angular rack with slanted support rod, and release the light brown mug.", + "Grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body, bring the drinking mug with smooth body to the metallic rack with smooth finish, set the drinking mug with smooth body onto the metallic rack with smooth finish to hang, and release the drinking mug with smooth body.", + "Hold the light brown cylindrical mug at edge contact point 0, lift it up, move toward the dark gray rack, place the light brown cylindrical mug onto the dark gray rack to hang, then let go.", + "Guide the arm to the brown mug, grip the brown mug by edge contact point 0, pick it up, move to the dark gray rack, hang the brown mug on the dark gray rack, and release.", + "Use the arm to grab the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, move over to the metal rack, hang the mug for holding liquid on the metal rack, and release the mug for holding liquid.", + "Move the arm to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift, carry to the dark gray rack, hang the medium-sized mug on the dark gray rack, release the medium-sized mug.", + "Move the arm toward the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the drinking mug with smooth body onto the metallic angular rack with rod pair to hang, then release.", + "With the arm, take hold of the hand-held ceramic mug by edge contact point 0, pick it up, bring it to the angular rack with slanted support rod, hang the hand-held ceramic mug on the angular rack with slanted support rod, then release.", + "Send the arm to the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift it, carry the mug for holding liquid to the metallic angular rack with rod pair, hang the mug for holding liquid on the metallic angular rack with rod pair, and release the mug for holding liquid.", + "Hold the light brown mug with handle using edge contact point 0, lift the light brown mug with handle up, bring the light brown mug with handle to the rack with angular body, hang the light brown mug with handle on the rack with angular body, then release.", + "Take the mug for holding liquid by edge contact point 0, lift the mug for holding liquid up, move the mug for holding liquid in front of the dark gray angled rack, hang the mug for holding liquid onto the dark gray angled rack, then release the mug for holding liquid.", + "Direct the arm to the brown medium-sized ceramic mug, grasp the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug clear, move to the dark gray rack, hang the brown medium-sized ceramic mug on the dark gray rack, release the grip.", + "Get to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, bring it to the metal rack, hang the medium-sized mug on the metal rack, and release.", + "Bring the arm to the mug with curved handle, grasp the mug with curved handle by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the mug with curved handle on the metallic angular rack with rod pair, then let go.", + "With the arm, approach the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift the brown mug for drinking, bring it to the dark gray angled rack, hang the brown mug for drinking on the dark gray angled rack, then let go.", + "Take the ceramic mug by edge contact point 0, lift it from its spot, carry the ceramic mug to the smooth rack, hang the ceramic mug on the smooth rack, then release the ceramic mug.", + "Using the arm, secure the brown medium-sized ceramic mug by edge contact point 0, lift, align the brown medium-sized ceramic mug with the dark gray rack, hang the brown medium-sized ceramic mug on the dark gray rack, and let go.", + "Grab the light brown mug with handle at edge contact point 0, lift it, bring it to the metal rack, hang the light brown mug with handle on the metal rack, then release the grip.", + "Direct the arm to grip the ceramic mug at edge contact point 0, pick the ceramic mug up, carry it to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release.", + "Pick up the light brown mug by edge contact point 0, move the light brown mug to the metallic rack with smooth finish, hang the light brown mug on the metallic rack with smooth finish, and release the light brown mug once it holds.", + "Move the arm toward the brown mug for drinking, grasp the brown mug for drinking at edge contact point 0, lift the brown mug for drinking, carry the brown mug for drinking to the dark gray angled rack, hang the brown mug for drinking on the dark gray angled rack, release the brown mug for drinking.", + "Reach the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift the brown mug for drinking, carry the brown mug for drinking to the smooth dark gray rack, hang the brown mug for drinking on the smooth dark gray rack, then release the brown mug for drinking.", + "With the arm, take the light brown mug by edge contact point 0, lift the light brown mug clear, move to the rack with angular body, hook the light brown mug onto the rack with angular body, then open the grip.", + "Go to the mug with curved handle, grasp the mug with curved handle by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the mug with curved handle on the smooth dark gray rack, and let go.", + "Have the arm reach the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move to the smooth rack, hang the hand-held ceramic mug on the smooth rack, then open the grip.", + "Reach for the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body clear, place the drinking mug with smooth body onto the metal rack to hang, then release the drinking mug with smooth body.", + "With the arm, grasp the mug for holding liquid by edge contact point 0, lift and transport the mug for holding liquid to the metal rack, hang the mug for holding liquid on the metal rack, then let go.", + "Using the arm, take the brown medium-sized ceramic mug at edge contact point 0, raise the brown medium-sized ceramic mug, move to the rack with two rods sticking out, hook the brown medium-sized ceramic mug onto the rack with two rods sticking out, and release the brown medium-sized ceramic mug.", + "Take the medium-sized mug by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the medium-sized mug onto the dark gray angled rack so it hangs, then let go.", + "Approach the ceramic mug, take hold of the ceramic mug by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the ceramic mug onto the rack with two rods sticking out, and let go.", + "Guide the arm to the hand-held ceramic mug, grip the hand-held ceramic mug at edge contact point 0, lift the hand-held ceramic mug, align the hand-held ceramic mug with the metallic angular rack with rod pair, hang the hand-held ceramic mug on the metallic angular rack with rod pair, release the hand-held ceramic mug.", + "Grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle up, move the mug with curved handle to the dark gray rack, hang the mug with curved handle on the dark gray rack, and let go of the mug with curved handle.", + "Take the drinking mug with smooth body by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the drinking mug with smooth body on the angled rack with long and short rods, and release your grip.", + "Grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug, move it over to the rack with angular body, hook the light brown cylindrical mug onto the rack with angular body, and release the light brown cylindrical mug.", + "Have the arm grasp the light brown mug by edge contact point 0, lift the light brown mug, bring it to the rack with angular body, hang the light brown mug from the rack with angular body, then release.", + "Grab the brown mug for drinking at edge contact point 0, lift the brown mug for drinking, move it to the medium rack with protruding rods, hook the brown mug for drinking onto the medium rack with protruding rods, and release the brown mug for drinking.", + "Grasp the light brown cylindrical mug at edge contact point 0, lift the light brown cylindrical mug from its spot, carry the light brown cylindrical mug to the metal rack, hang the light brown cylindrical mug on the metal rack, and release.", + "Use the arm to grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, move toward the metallic rack with smooth finish, hang the light brown mug with handle on the metallic rack with smooth finish, then release the light brown mug with handle.", + "With the arm, reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, align it to the smooth rack, hang the ceramic mug on the smooth rack, then release the ceramic mug.", + "Grab the light brown cylindrical mug at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the light brown cylindrical mug onto the metallic angular rack with rod pair so it hangs, then release the light brown cylindrical mug.", + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the ceramic mug onto the metallic rack with smooth finish, and release the ceramic mug.", + "Grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug, bring the light brown cylindrical mug to the medium rack with protruding rods, set the light brown cylindrical mug onto the medium rack with protruding rods to hang, and release the light brown cylindrical mug.", + "Hold the light brown cylindrical mug at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the light brown cylindrical mug onto the metallic rack with smooth finish to hang, then let go.", + "Guide the arm to the light brown cylindrical mug, grip the light brown cylindrical mug by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the light brown cylindrical mug on the angular rack with slanted support rod, and release.", + "Use the arm to grab the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body, move over to the angular rack with slanted support rod, hang the drinking mug with smooth body on the angular rack with slanted support rod, and release the drinking mug with smooth body.", + "Move the arm to the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift, carry to the smooth dark gray rack, hang the hand-held ceramic mug on the smooth dark gray rack, release the hand-held ceramic mug.", + "Move the arm toward the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the medium-sized mug onto the medium rack with protruding rods to hang, then release.", + "With the arm, take hold of the drinking mug with smooth body by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the drinking mug with smooth body on the metallic rack with smooth finish, then release.", + "Send the arm to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift it, carry the medium-sized mug to the metallic angular rack with rod pair, hang the medium-sized mug on the metallic angular rack with rod pair, and release the medium-sized mug.", + "Hold the hand-held ceramic mug using edge contact point 0, lift the hand-held ceramic mug up, bring the hand-held ceramic mug to the metallic angular rack with rod pair, hang the hand-held ceramic mug on the metallic angular rack with rod pair, then release.", + "Take the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug up, move the light brown cylindrical mug in front of the smooth dark gray rack, hang the light brown cylindrical mug onto the smooth dark gray rack, then release the light brown cylindrical mug.", + "Direct the arm to the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid clear, move to the dark gray angled rack, hang the mug for holding liquid on the dark gray angled rack, release the grip.", + "Get to the light brown mug, grasp the light brown mug by edge contact point 0, lift the light brown mug, bring it to the metallic rack with smooth finish, hang the light brown mug on the metallic rack with smooth finish, and release.", + "Bring the arm to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the medium-sized mug on the rack with two rods sticking out, then let go.", + "With the arm, approach the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, bring it to the smooth rack, hang the mug for holding liquid on the smooth rack, then let go.", + "Take the mug with curved handle by edge contact point 0, lift it from its spot, carry the mug with curved handle to the medium rack with protruding rods, hang the mug with curved handle on the medium rack with protruding rods, then release the mug with curved handle.", + "Using the arm, secure the light brown cylindrical mug by edge contact point 0, lift, align the light brown cylindrical mug with the smooth dark gray rack, hang the light brown cylindrical mug on the smooth dark gray rack, and let go.", + "Grab the light brown mug with handle at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the light brown mug with handle on the rack with two rods sticking out, then release the grip.", + "Direct the arm to grip the mug with curved handle at edge contact point 0, pick the mug with curved handle up, carry it to the rack with angular body, hang the mug with curved handle on the rack with angular body, and release.", + "Pick up the brown mug for drinking by edge contact point 0, move the brown mug for drinking to the rack with two rods sticking out, hang the brown mug for drinking on the rack with two rods sticking out, and release the brown mug for drinking once it holds.", + "Move the arm toward the brown mug for drinking, grasp the brown mug for drinking at edge contact point 0, lift the brown mug for drinking, carry the brown mug for drinking to the metallic angular rack with rod pair, hang the brown mug for drinking on the metallic angular rack with rod pair, release the brown mug for drinking.", + "Reach the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, carry the hand-held ceramic mug to the metallic angular rack with rod pair, hang the hand-held ceramic mug on the metallic angular rack with rod pair, then release the hand-held ceramic mug.", + "With the arm, take the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug clear, move to the dark gray angled rack, hook the brown medium-sized ceramic mug onto the dark gray angled rack, then open the grip.", + "Go to the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift it clear, align it with the rack with angular body, hang the light brown mug with handle on the rack with angular body, and let go.", + "Have the arm reach the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift the brown mug for drinking, move to the rack with two rods sticking out, hang the brown mug for drinking on the rack with two rods sticking out, then open the grip.", + "Reach for the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid clear, place the mug for holding liquid onto the smooth rack to hang, then release the mug for holding liquid.", + "With the arm, grasp the light brown cylindrical mug by edge contact point 0, lift and transport the light brown cylindrical mug to the dark gray rack, hang the light brown cylindrical mug on the dark gray rack, then let go.", + "Using the arm, take the brown mug at edge contact point 0, raise the brown mug, move to the rack with angular body, hook the brown mug onto the rack with angular body, and release the brown mug." + ], + "unseen": [ + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release the cylindrical mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release the smooth ceramic mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go of the mug with smooth texture.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release the smooth ceramic mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go of the mug with smooth texture.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release the mug with smooth texture.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and release.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go of the smooth ceramic mug.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release the cylindrical mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go of the smooth ceramic mug.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release the cylindrical mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go of the cylindrical mug.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release the smooth ceramic mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release the smooth ceramic mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release the smooth ceramic mug.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the smooth ceramic mug on the medium-sized rack, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go of the smooth ceramic mug.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release the cylindrical mug.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go of the smooth ceramic mug.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go of the cylindrical mug.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then let go.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release the cylindrical mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode10.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..6e241d963809467358aa1eda815973a2dc30c9d7 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Guide the arm to the cylindrical mug made of ceramic, grip the cylindrical mug made of ceramic by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the cylindrical mug made of ceramic on the angled rack with long and short rods, and release.", + "Grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, bring the cylindrical mug made of ceramic to the metal rack, set the cylindrical mug made of ceramic onto the metal rack to hang, and release the cylindrical mug made of ceramic.", + "Use the arm to grab the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug, move over to the smooth rack, hang the smooth and plain drinking mug on the smooth rack, and release the smooth and plain drinking mug.", + "Grab the plain glossy mug at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the plain glossy mug onto the angled rack with long and short rods so it hangs, then release the plain glossy mug.", + "Take the basic mug in solid white by edge contact point 0, lift it off the surface, move it to the metal rack, hang the basic mug in solid white on the metal rack, and release your grip.", + "Direct the arm to grip the plain glossy mug at edge contact point 0, pick the plain glossy mug up, carry it to the metallic rack with smooth finish, hang the plain glossy mug on the metallic rack with smooth finish, and release.", + "Grab the glossy mug for beverages at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the glossy mug for beverages on the metallic rack with smooth finish, then release the grip.", + "Take the hand-sized ceramic mug by edge contact point 0, lift it from its spot, carry the hand-sized ceramic mug to the dark gray angled rack, hang the hand-sized ceramic mug on the dark gray angled rack, then release the hand-sized ceramic mug.", + "Guide the arm to the ceramic mug, grip the ceramic mug at edge contact point 0, lift the ceramic mug, align the ceramic mug with the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, release the ceramic mug.", + "Approach the glossy mug for beverages, take hold of the glossy mug for beverages by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the glossy mug for beverages onto the rack with two rods sticking out, and let go.", + "Send the arm to the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift it, carry the smooth white mug with curved handle to the metallic angular rack with rod pair, hang the smooth white mug with curved handle on the metallic angular rack with rod pair, and release the smooth white mug with curved handle.", + "Go to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift it clear, align it with the dark gray rack, hang the medium white mug with handle on the dark gray rack, and let go.", + "Move the arm toward the glossy mug for beverages, grasp the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, carry the glossy mug for beverages to the dark gray angled rack, hang the glossy mug for beverages on the dark gray angled rack, release the glossy mug for beverages.", + "Take the plain glossy mug by edge contact point 0, lift it, bring it over to the dark gray rack, place the plain glossy mug onto the dark gray rack so it hangs, then let go.", + "Grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, move it over to the smooth rack, hook the white mug with rounded handle onto the smooth rack, and release the white mug with rounded handle.", + "Using the arm, secure the glossy mug for beverages by edge contact point 0, lift, align the glossy mug for beverages with the metallic angular rack with rod pair, hang the glossy mug for beverages on the metallic angular rack with rod pair, and let go.", + "Grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug up, move the medium-sized white mug to the dark gray rack, hang the medium-sized white mug on the dark gray rack, and let go of the medium-sized white mug.", + "With the arm, take hold of the hand-sized ceramic mug by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the hand-sized ceramic mug on the angled rack with long and short rods, then release.", + "Move the arm toward the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the smooth and plain drinking mug onto the medium rack with protruding rods to hang, then release.", + "Use the arm to grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, move toward the angular rack with slanted support rod, hang the smooth white mug with curved handle on the angular rack with slanted support rod, then release the smooth white mug with curved handle.", + "Grasp the smooth white mug with curved handle at edge contact point 0, lift the smooth white mug with curved handle from its spot, carry the smooth white mug with curved handle to the angled rack with long and short rods, hang the smooth white mug with curved handle on the angled rack with long and short rods, and release.", + "With the arm, approach the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, bring it to the metallic angular rack with rod pair, hang the white mug with rounded handle on the metallic angular rack with rod pair, then let go.", + "Pick up the white mug by edge contact point 0, move the white mug to the dark gray rack, hang the white mug on the dark gray rack, and release the white mug once it holds.", + "Take the medium-sized white mug by edge contact point 0, lift the medium-sized white mug up, move the medium-sized white mug in front of the dark gray angled rack, hang the medium-sized white mug onto the dark gray angled rack, then release the medium-sized white mug.", + "Using the arm, take the smooth white mug with curved handle at edge contact point 0, raise the smooth white mug with curved handle, move to the smooth dark gray rack, hook the smooth white mug with curved handle onto the smooth dark gray rack, and release the smooth white mug with curved handle.", + "With the arm, grasp the glossy mug for beverages by edge contact point 0, lift and transport the glossy mug for beverages to the medium rack with protruding rods, hang the glossy mug for beverages on the medium rack with protruding rods, then let go.", + "Have the arm grasp the white mug by edge contact point 0, lift the white mug, bring it to the metal rack, hang the white mug from the metal rack, then release.", + "Grab the white mug with rounded handle at edge contact point 0, lift the white mug with rounded handle, move it to the smooth dark gray rack, hook the white mug with rounded handle onto the smooth dark gray rack, and release the white mug with rounded handle.", + "Reach the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, carry the smooth white mug with curved handle to the metallic rack with smooth finish, hang the smooth white mug with curved handle on the metallic rack with smooth finish, then release the smooth white mug with curved handle.", + "With the arm, reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, align it to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, then release the ceramic mug.", + "Move the arm to the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift, carry to the dark gray angled rack, hang the smooth white mug with curved handle on the dark gray angled rack, release the smooth white mug with curved handle.", + "Bring the arm to the basic mug in solid white, grasp the basic mug in solid white by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the basic mug in solid white on the metallic angular rack with rod pair, then let go.", + "Direct the arm to the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug clear, move to the metallic angular rack with rod pair, hang the plain glossy mug on the metallic angular rack with rod pair, release the grip.", + "Grab the medium white mug with handle at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the medium white mug with handle onto the dark gray angled rack, and release the medium white mug with handle.", + "Hold the white mug with rounded handle at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the white mug with rounded handle onto the smooth dark gray rack to hang, then let go.", + "Have the arm reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, move to the metal rack, hang the white mug on the metal rack, then open the grip.", + "Get to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the angular rack with slanted support rod, hang the medium-sized white mug on the angular rack with slanted support rod, and release.", + "Hold the smooth and plain drinking mug using edge contact point 0, lift the smooth and plain drinking mug up, bring the smooth and plain drinking mug to the angular rack with slanted support rod, hang the smooth and plain drinking mug on the angular rack with slanted support rod, then release.", + "Reach for the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle clear, place the medium white mug with handle onto the metallic rack with smooth finish to hang, then release the medium white mug with handle.", + "With the arm, take the white mug by edge contact point 0, lift the white mug clear, move to the angled rack with long and short rods, hook the white mug onto the angled rack with long and short rods, then open the grip.", + "Guide the arm to the cylindrical mug made of ceramic, grip the cylindrical mug made of ceramic by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the cylindrical mug made of ceramic on the metallic rack with smooth finish, and release.", + "Grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, bring the cylindrical mug made of ceramic to the metallic angular rack with rod pair, set the cylindrical mug made of ceramic onto the metallic angular rack with rod pair to hang, and release the cylindrical mug made of ceramic.", + "Use the arm to grab the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug, move over to the angular rack with slanted support rod, hang the smooth and plain drinking mug on the angular rack with slanted support rod, and release the smooth and plain drinking mug.", + "Grab the medium white mug with handle at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the medium white mug with handle onto the rack with two rods sticking out so it hangs, then release the medium white mug with handle.", + "Take the medium-sized white mug by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the medium-sized white mug on the smooth dark gray rack, and release your grip.", + "Direct the arm to grip the ceramic mug at edge contact point 0, pick the ceramic mug up, carry it to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and release.", + "Grab the hand-sized ceramic mug at edge contact point 0, lift it, bring it to the medium rack with protruding rods, hang the hand-sized ceramic mug on the medium rack with protruding rods, then release the grip.", + "Take the hand-sized ceramic mug by edge contact point 0, lift it from its spot, carry the hand-sized ceramic mug to the smooth dark gray rack, hang the hand-sized ceramic mug on the smooth dark gray rack, then release the hand-sized ceramic mug.", + "Guide the arm to the medium-sized white mug, grip the medium-sized white mug at edge contact point 0, lift the medium-sized white mug, align the medium-sized white mug with the smooth dark gray rack, hang the medium-sized white mug on the smooth dark gray rack, release the medium-sized white mug.", + "Approach the plain glossy mug, take hold of the plain glossy mug by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the plain glossy mug onto the metallic rack with smooth finish, and let go.", + "Send the arm to the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift it, carry the cylindrical mug made of ceramic to the smooth dark gray rack, hang the cylindrical mug made of ceramic on the smooth dark gray rack, and release the cylindrical mug made of ceramic.", + "Go to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the medium white mug with handle on the angular rack with slanted support rod, and let go.", + "Move the arm toward the white mug, grasp the white mug at edge contact point 0, lift the white mug, carry the white mug to the smooth dark gray rack, hang the white mug on the smooth dark gray rack, release the white mug.", + "Take the medium-sized white mug by edge contact point 0, lift it, bring it over to the smooth rack, place the medium-sized white mug onto the smooth rack so it hangs, then let go.", + "Grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug, move it over to the angled rack with long and short rods, hook the plain glossy mug onto the angled rack with long and short rods, and release the plain glossy mug.", + "Using the arm, secure the medium white mug with handle by edge contact point 0, lift, align the medium white mug with handle with the angled rack with long and short rods, hang the medium white mug with handle on the angled rack with long and short rods, and let go.", + "Grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle up, move the white mug with rounded handle to the dark gray angled rack, hang the white mug with rounded handle on the dark gray angled rack, and let go of the white mug with rounded handle.", + "With the arm, take hold of the glossy mug for beverages by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the glossy mug for beverages on the metallic rack with smooth finish, then release.", + "Move the arm toward the basic mug in solid white, grasp the basic mug in solid white by edge contact point 0, lift it, travel to the dark gray rack, place the basic mug in solid white onto the dark gray rack to hang, then release.", + "Use the arm to grasp the basic mug in solid white by edge contact point 0, lift the basic mug in solid white, move toward the smooth rack, hang the basic mug in solid white on the smooth rack, then release the basic mug in solid white.", + "Grasp the cylindrical mug made of ceramic at edge contact point 0, lift the cylindrical mug made of ceramic from its spot, carry the cylindrical mug made of ceramic to the smooth rack, hang the cylindrical mug made of ceramic on the smooth rack, and release.", + "With the arm, approach the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle, bring it to the metallic rack with smooth finish, hang the medium white mug with handle on the metallic rack with smooth finish, then let go.", + "Pick up the cylindrical mug made of ceramic by edge contact point 0, move the cylindrical mug made of ceramic to the angled rack with long and short rods, hang the cylindrical mug made of ceramic on the angled rack with long and short rods, and release the cylindrical mug made of ceramic once it holds.", + "Take the basic mug in solid white by edge contact point 0, lift the basic mug in solid white up, move the basic mug in solid white in front of the rack with two rods sticking out, hang the basic mug in solid white onto the rack with two rods sticking out, then release the basic mug in solid white.", + "Using the arm, take the plain glossy mug at edge contact point 0, raise the plain glossy mug, move to the angular rack with slanted support rod, hook the plain glossy mug onto the angular rack with slanted support rod, and release the plain glossy mug.", + "With the arm, grasp the white mug by edge contact point 0, lift and transport the white mug to the smooth rack, hang the white mug on the smooth rack, then let go.", + "Have the arm grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray angled rack, hang the ceramic mug from the dark gray angled rack, then release.", + "Grab the smooth and plain drinking mug at edge contact point 0, lift the smooth and plain drinking mug, move it to the metal rack, hook the smooth and plain drinking mug onto the metal rack, and release the smooth and plain drinking mug.", + "Reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, carry the ceramic mug to the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, then release the ceramic mug.", + "With the arm, reach the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the glossy mug for beverages on the metallic angular rack with rod pair, then release the glossy mug for beverages.", + "Move the arm to the white mug, grasp the white mug by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, release the white mug.", + "Bring the arm to the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift it, move to the dark gray rack, hang the hand-sized ceramic mug on the dark gray rack, then let go.", + "Direct the arm to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle clear, move to the smooth dark gray rack, hang the medium white mug with handle on the smooth dark gray rack, release the grip.", + "Grab the smooth white mug with curved handle at edge contact point 0, pick it up, move it over to the metal rack, hang the smooth white mug with curved handle onto the metal rack, and release the smooth white mug with curved handle.", + "Hold the basic mug in solid white at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the basic mug in solid white onto the rack with two rods sticking out to hang, then let go.", + "Have the arm reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, then open the grip.", + "Get to the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, bring it to the dark gray rack, hang the smooth white mug with curved handle on the dark gray rack, and release.", + "Hold the plain glossy mug using edge contact point 0, lift the plain glossy mug up, bring the plain glossy mug to the angled rack with long and short rods, hang the plain glossy mug on the angled rack with long and short rods, then release.", + "Reach for the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug clear, place the medium-sized white mug onto the rack with angular body to hang, then release the medium-sized white mug.", + "With the arm, take the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the smooth dark gray rack, hook the ceramic mug onto the smooth dark gray rack, then open the grip.", + "Guide the arm to the plain glossy mug, grip the plain glossy mug by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the plain glossy mug on the angular rack with slanted support rod, and release.", + "Grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug, bring the smooth and plain drinking mug to the smooth dark gray rack, set the smooth and plain drinking mug onto the smooth dark gray rack to hang, and release the smooth and plain drinking mug.", + "Use the arm to grab the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, move over to the dark gray angled rack, hang the cylindrical mug made of ceramic on the dark gray angled rack, and release the cylindrical mug made of ceramic.", + "Grab the medium white mug with handle at edge contact point 0, raise it, guide it to the dark gray angled rack, set the medium white mug with handle onto the dark gray angled rack so it hangs, then release the medium white mug with handle.", + "Take the plain glossy mug by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the plain glossy mug on the dark gray rack, and release your grip.", + "Direct the arm to grip the smooth and plain drinking mug at edge contact point 0, pick the smooth and plain drinking mug up, carry it to the smooth rack, hang the smooth and plain drinking mug on the smooth rack, and release.", + "Grab the white mug with rounded handle at edge contact point 0, lift it, bring it to the smooth rack, hang the white mug with rounded handle on the smooth rack, then release the grip.", + "Take the hand-sized ceramic mug by edge contact point 0, lift it from its spot, carry the hand-sized ceramic mug to the angular rack with slanted support rod, hang the hand-sized ceramic mug on the angular rack with slanted support rod, then release the hand-sized ceramic mug.", + "Guide the arm to the plain glossy mug, grip the plain glossy mug at edge contact point 0, lift the plain glossy mug, align the plain glossy mug with the smooth rack, hang the plain glossy mug on the smooth rack, release the plain glossy mug.", + "Approach the plain glossy mug, take hold of the plain glossy mug by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the plain glossy mug onto the angled rack with long and short rods, and let go.", + "Send the arm to the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift it, carry the plain glossy mug to the metal rack, hang the plain glossy mug on the metal rack, and release the plain glossy mug.", + "Go to the basic mug in solid white, grasp the basic mug in solid white by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the basic mug in solid white on the rack with two rods sticking out, and let go.", + "Move the arm toward the basic mug in solid white, grasp the basic mug in solid white at edge contact point 0, lift the basic mug in solid white, carry the basic mug in solid white to the dark gray angled rack, hang the basic mug in solid white on the dark gray angled rack, release the basic mug in solid white.", + "Take the plain glossy mug by edge contact point 0, lift it, bring it over to the smooth rack, place the plain glossy mug onto the smooth rack so it hangs, then let go.", + "Grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, move it over to the rack with angular body, hook the hand-sized ceramic mug onto the rack with angular body, and release the hand-sized ceramic mug.", + "Using the arm, secure the plain glossy mug by edge contact point 0, lift, align the plain glossy mug with the rack with two rods sticking out, hang the plain glossy mug on the rack with two rods sticking out, and let go.", + "Grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug up, move the smooth and plain drinking mug to the angular rack with slanted support rod, hang the smooth and plain drinking mug on the angular rack with slanted support rod, and let go of the smooth and plain drinking mug.", + "With the arm, take hold of the ceramic mug by edge contact point 0, pick it up, bring it to the rack with angular body, hang the ceramic mug on the rack with angular body, then release.", + "Move the arm toward the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift it, travel to the rack with angular body, place the glossy mug for beverages onto the rack with angular body to hang, then release.", + "Use the arm to grasp the white mug by edge contact point 0, lift the white mug, move toward the rack with angular body, hang the white mug on the rack with angular body, then release the white mug." + ], + "unseen": [ + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go of the medium mug for hot drinks.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release the simple white cylindrical mug.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go of the white coffee mug.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release the medium mug for hot drinks.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the white coffee mug on the medium-sized rack, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go of the white coffee mug.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release the medium mug for hot drinks.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go of the medium mug for hot drinks.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go of the simple white cylindrical mug.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go of the white coffee mug.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release the medium mug for hot drinks.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go of the medium mug for hot drinks.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release the simple white cylindrical mug.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release the medium mug for hot drinks.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release the simple white cylindrical mug.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go of the medium mug for hot drinks.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release the simple white cylindrical mug.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode11.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc0a38d1c15068f72cbfc652d5cda426b2e4b36 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the arm toward the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, carry the hand-sized mug with blue artwork to the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, release the hand-sized mug with blue artwork.", + "Grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface from its spot, carry the white drinking mug with smooth surface to the metallic rack with smooth finish, hang the white drinking mug with smooth surface on the metallic rack with smooth finish, and release.", + "Take the medium mug with blue design by edge contact point 0, lift the medium mug with blue design up, move the medium mug with blue design in front of the dark gray rack, hang the medium mug with blue design onto the dark gray rack, then release the medium mug with blue design.", + "Direct the arm to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface clear, move to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, release the grip.", + "Go to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it clear, align it with the metal rack, hang the cylindrical mug with curved handle on the metal rack, and let go.", + "Guide the arm to the mug for drinking liquids, grip the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids, align the mug for drinking liquids with the dark gray rack, hang the mug for drinking liquids on the dark gray rack, release the mug for drinking liquids.", + "Approach the printed white ceramic mug, take hold of the printed white ceramic mug by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the printed white ceramic mug onto the medium rack with protruding rods, and let go.", + "Using the arm, secure the ceramic mug by edge contact point 0, lift, align the ceramic mug with the smooth rack, hang the ceramic mug on the smooth rack, and let go.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, and let go of the ceramic mug.", + "With the arm, reach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift, align it to the dark gray rack, hang the medium mug with blue design on the dark gray rack, then release the medium mug with blue design.", + "Grab the mug for drinking liquids at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the mug for drinking liquids onto the angular rack with slanted support rod so it hangs, then release the mug for drinking liquids.", + "Move the arm toward the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it, travel to the dark gray rack, place the white ceramic mug with handle onto the dark gray rack to hang, then release.", + "Grab the white ceramic mug with handle at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the white ceramic mug with handle onto the angular rack with slanted support rod, and release the white ceramic mug with handle.", + "Have the arm grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface from the metallic angular rack with rod pair, then release.", + "With the arm, approach the white mug, grasp the white mug by edge contact point 0, lift the white mug, bring it to the metallic angular rack with rod pair, hang the white mug on the metallic angular rack with rod pair, then let go.", + "Take the printed white ceramic mug by edge contact point 0, lift it from its spot, carry the printed white ceramic mug to the metallic rack with smooth finish, hang the printed white ceramic mug on the metallic rack with smooth finish, then release the printed white ceramic mug.", + "Reach for the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids clear, place the mug for drinking liquids onto the dark gray angled rack to hang, then release the mug for drinking liquids.", + "With the arm, take the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, move to the metal rack, hook the cylindrical mug with curved handle onto the metal rack, then open the grip.", + "Using the arm, take the white mug at edge contact point 0, raise the white mug, move to the rack with two rods sticking out, hook the white mug onto the rack with two rods sticking out, and release the white mug.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move it over to the dark gray angled rack, hook the medium mug with blue design onto the dark gray angled rack, and release the medium mug with blue design.", + "With the arm, take hold of the printed white ceramic mug by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the printed white ceramic mug on the rack with two rods sticking out, then release.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the cylindrical mug with curved handle on the angular rack with slanted support rod, and release your grip.", + "Grasp the white mug by edge contact point 0, lift the white mug, bring the white mug to the angular rack with slanted support rod, set the white mug onto the angular rack with slanted support rod to hang, and release the white mug.", + "Get to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, and release.", + "Grab the mug with blue print at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the mug with blue print on the angular rack with slanted support rod, then release the grip.", + "Bring the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, move to the smooth rack, hang the medium mug with blue design on the smooth rack, then let go.", + "Reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, carry the white ceramic mug with handle to the smooth dark gray rack, hang the white ceramic mug with handle on the smooth dark gray rack, then release the white ceramic mug with handle.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, and release the ceramic mug once it holds.", + "Grab the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, move it to the dark gray angled rack, hook the white ceramic mug with handle onto the dark gray angled rack, and release the white ceramic mug with handle.", + "Use the arm to grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move toward the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, then release the white drinking mug with smooth surface.", + "Have the arm reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move to the angled rack with long and short rods, hang the white ceramic mug with handle on the angled rack with long and short rods, then open the grip.", + "Send the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry the ceramic mug to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and release the ceramic mug.", + "Direct the arm to grip the white drinking mug with smooth surface at edge contact point 0, pick the white drinking mug with smooth surface up, carry it to the angular rack with slanted support rod, hang the white drinking mug with smooth surface on the angular rack with slanted support rod, and release.", + "Take the printed white ceramic mug by edge contact point 0, lift it, bring it over to the rack with angular body, place the printed white ceramic mug onto the rack with angular body so it hangs, then let go.", + "Guide the arm to the printed white ceramic mug, grip the printed white ceramic mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the printed white ceramic mug on the rack with two rods sticking out, and release.", + "Use the arm to grab the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move over to the metallic rack with smooth finish, hang the white mug with glossy finish on the metallic rack with smooth finish, and release the white mug with glossy finish.", + "Hold the white mug with glossy finish at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the white mug with glossy finish onto the medium rack with protruding rods to hang, then let go.", + "With the arm, grasp the hand-sized mug with blue artwork by edge contact point 0, lift and transport the hand-sized mug with blue artwork to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, then let go.", + "Hold the smooth white mug using edge contact point 0, lift the smooth white mug up, bring the smooth white mug to the rack with angular body, hang the smooth white mug on the rack with angular body, then release.", + "Move the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift, carry to the dark gray rack, hang the mug with blue print on the dark gray rack, release the mug with blue print.", + "Move the arm toward the ceramic mug, grasp the ceramic mug at edge contact point 0, lift the ceramic mug, carry the ceramic mug to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, release the ceramic mug.", + "Grasp the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork from its spot, carry the hand-sized mug with blue artwork to the metal rack, hang the hand-sized mug with blue artwork on the metal rack, and release.", + "Take the white mug by edge contact point 0, lift the white mug up, move the white mug in front of the angled rack with long and short rods, hang the white mug onto the angled rack with long and short rods, then release the white mug.", + "Direct the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the rack with two rods sticking out, hang the mug with blue print on the rack with two rods sticking out, release the grip.", + "Go to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the cylindrical mug with curved handle on the angled rack with long and short rods, and let go.", + "Guide the arm to the ceramic mug, grip the ceramic mug at edge contact point 0, lift the ceramic mug, align the ceramic mug with the smooth rack, hang the ceramic mug on the smooth rack, release the ceramic mug.", + "Approach the white drinking mug with smooth surface, take hold of the white drinking mug with smooth surface by edge contact point 0, raise it, bring it to the smooth rack, hook the white drinking mug with smooth surface onto the smooth rack, and let go.", + "Using the arm, secure the medium mug with blue design by edge contact point 0, lift, align the medium mug with blue design with the dark gray rack, hang the medium mug with blue design on the dark gray rack, and let go.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design up, move the medium mug with blue design to the dark gray rack, hang the medium mug with blue design on the dark gray rack, and let go of the medium mug with blue design.", + "With the arm, reach the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the printed white ceramic mug on the metallic rack with smooth finish, then release the printed white ceramic mug.", + "Grab the cylindrical mug with curved handle at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the cylindrical mug with curved handle onto the medium rack with protruding rods so it hangs, then release the cylindrical mug with curved handle.", + "Move the arm toward the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the printed white ceramic mug onto the angular rack with slanted support rod to hang, then release.", + "Grab the white mug at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the white mug onto the metallic angular rack with rod pair, and release the white mug.", + "Have the arm grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the smooth dark gray rack, hang the white drinking mug with smooth surface from the smooth dark gray rack, then release.", + "With the arm, approach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the angular rack with slanted support rod, hang the white mug with glossy finish on the angular rack with slanted support rod, then let go.", + "Take the mug for drinking liquids by edge contact point 0, lift it from its spot, carry the mug for drinking liquids to the angled rack with long and short rods, hang the mug for drinking liquids on the angled rack with long and short rods, then release the mug for drinking liquids.", + "Reach for the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish clear, place the white mug with glossy finish onto the rack with angular body to hang, then release the white mug with glossy finish.", + "With the arm, take the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the smooth rack, hook the mug with blue print onto the smooth rack, then open the grip.", + "Using the arm, take the ceramic mug at edge contact point 0, raise the ceramic mug, move to the smooth rack, hook the ceramic mug onto the smooth rack, and release the ceramic mug.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move it over to the dark gray angled rack, hook the medium mug with blue design onto the dark gray angled rack, and release the medium mug with blue design.", + "With the arm, take hold of the white drinking mug with smooth surface by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, then release.", + "Take the mug with blue print by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the mug with blue print on the rack with angular body, and release your grip.", + "Grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, bring the white ceramic mug with handle to the rack with angular body, set the white ceramic mug with handle onto the rack with angular body to hang, and release the white ceramic mug with handle.", + "Get to the white mug, grasp the white mug by edge contact point 0, lift the white mug, bring it to the dark gray angled rack, hang the white mug on the dark gray angled rack, and release.", + "Grab the white mug with glossy finish at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the white mug with glossy finish on the rack with two rods sticking out, then release the grip.", + "Bring the arm to the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the white ceramic mug with handle on the metallic rack with smooth finish, then let go.", + "Reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, carry the hand-sized mug with blue artwork to the rack with two rods sticking out, hang the hand-sized mug with blue artwork on the rack with two rods sticking out, then release the hand-sized mug with blue artwork.", + "Pick up the mug for drinking liquids by edge contact point 0, move the mug for drinking liquids to the metallic rack with smooth finish, hang the mug for drinking liquids on the metallic rack with smooth finish, and release the mug for drinking liquids once it holds.", + "Grab the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, move it to the smooth dark gray rack, hook the white ceramic mug with handle onto the smooth dark gray rack, and release the white ceramic mug with handle.", + "Use the arm to grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move toward the rack with two rods sticking out, hang the white ceramic mug with handle on the rack with two rods sticking out, then release the white ceramic mug with handle.", + "Have the arm reach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move to the dark gray angled rack, hang the white drinking mug with smooth surface on the dark gray angled rack, then open the grip.", + "Send the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, carry the hand-sized mug with blue artwork to the angular rack with slanted support rod, hang the hand-sized mug with blue artwork on the angular rack with slanted support rod, and release the hand-sized mug with blue artwork.", + "Direct the arm to grip the cylindrical mug with curved handle at edge contact point 0, pick the cylindrical mug with curved handle up, carry it to the rack with two rods sticking out, hang the cylindrical mug with curved handle on the rack with two rods sticking out, and release.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the hand-sized mug with blue artwork onto the angled rack with long and short rods so it hangs, then let go.", + "Guide the arm to the white mug, grip the white mug by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, and release.", + "Use the arm to grab the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move over to the smooth dark gray rack, hang the hand-sized mug with blue artwork on the smooth dark gray rack, and release the hand-sized mug with blue artwork.", + "Hold the medium mug with blue design at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the medium mug with blue design onto the smooth dark gray rack to hang, then let go.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the metal rack, hang the white drinking mug with smooth surface on the metal rack, then let go.", + "Hold the mug with blue print using edge contact point 0, lift the mug with blue print up, bring the mug with blue print to the metallic angular rack with rod pair, hang the mug with blue print on the metallic angular rack with rod pair, then release.", + "Move the arm to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the white drinking mug with smooth surface on the medium rack with protruding rods, release the white drinking mug with smooth surface.", + "Move the arm toward the smooth white mug, grasp the smooth white mug at edge contact point 0, lift the smooth white mug, carry the smooth white mug to the rack with two rods sticking out, hang the smooth white mug on the rack with two rods sticking out, release the smooth white mug.", + "Grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface from its spot, carry the white drinking mug with smooth surface to the dark gray rack, hang the white drinking mug with smooth surface on the dark gray rack, and release.", + "Take the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish up, move the white mug with glossy finish in front of the angled rack with long and short rods, hang the white mug with glossy finish onto the angled rack with long and short rods, then release the white mug with glossy finish.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, release the grip.", + "Go to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the white drinking mug with smooth surface on the smooth dark gray rack, and let go.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, align the hand-sized mug with blue artwork with the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, release the hand-sized mug with blue artwork.", + "Approach the medium mug with blue design, take hold of the medium mug with blue design by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the medium mug with blue design onto the dark gray angled rack, and let go.", + "Using the arm, secure the smooth white mug by edge contact point 0, lift, align the smooth white mug with the smooth dark gray rack, hang the smooth white mug on the smooth dark gray rack, and let go.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids up, move the mug for drinking liquids to the smooth rack, hang the mug for drinking liquids on the smooth rack, and let go of the mug for drinking liquids.", + "With the arm, reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the smooth white mug on the angular rack with slanted support rod, then release the smooth white mug.", + "Grab the white mug with glossy finish at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the white mug with glossy finish onto the metallic angular rack with rod pair so it hangs, then release the white mug with glossy finish.", + "Move the arm toward the white mug, grasp the white mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the white mug onto the angled rack with long and short rods to hang, then release.", + "Grab the white mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the white mug onto the rack with two rods sticking out, and release the white mug.", + "Have the arm grasp the white mug by edge contact point 0, lift the white mug, bring it to the angular rack with slanted support rod, hang the white mug from the angular rack with slanted support rod, then release.", + "With the arm, approach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the angled rack with long and short rods, hang the white mug with glossy finish on the angled rack with long and short rods, then let go.", + "Take the smooth white mug by edge contact point 0, lift it from its spot, carry the smooth white mug to the angular rack with slanted support rod, hang the smooth white mug on the angular rack with slanted support rod, then release the smooth white mug.", + "Reach for the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork clear, place the hand-sized mug with blue artwork onto the angular rack with slanted support rod to hang, then release the hand-sized mug with blue artwork.", + "With the arm, take the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle clear, move to the rack with two rods sticking out, hook the white ceramic mug with handle onto the rack with two rods sticking out, then open the grip.", + "Using the arm, take the cylindrical mug with curved handle at edge contact point 0, raise the cylindrical mug with curved handle, move to the metal rack, hook the cylindrical mug with curved handle onto the metal rack, and release the cylindrical mug with curved handle.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move it over to the angular rack with slanted support rod, hook the white mug with glossy finish onto the angular rack with slanted support rod, and release the white mug with glossy finish." + ], + "unseen": [ + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode12.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..40468677b1a35c39fbdb44b941018ca20a09a6bb --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Send the arm to the black mug, grasp the black mug by edge contact point 0, lift it, carry the black mug to the smooth rack, hang the black mug on the smooth rack, and release the black mug.", + "Using the arm, secure the glossy black mug medium-sized for drinking by edge contact point 0, lift, align the glossy black mug medium-sized for drinking with the metallic angular rack with rod pair, hang the glossy black mug medium-sized for drinking on the metallic angular rack with rod pair, and let go.", + "With the arm, take the black ceramic mug by edge contact point 0, lift the black ceramic mug clear, move to the angled rack with long and short rods, hook the black ceramic mug onto the angled rack with long and short rods, then open the grip.", + "Reach the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug, carry the black ceramic mug to the metallic angular rack with rod pair, hang the black ceramic mug on the metallic angular rack with rod pair, then release the black ceramic mug.", + "Direct the arm to the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish clear, move to the dark gray angled rack, hang the cylindrical mug with black finish on the dark gray angled rack, release the grip.", + "With the arm, reach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the medium mug smooth rounded handle on the rack with two rods sticking out, then release the medium mug smooth rounded handle.", + "Grab the drinking mug shiny black exterior at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the drinking mug shiny black exterior onto the angled rack with long and short rods so it hangs, then release the drinking mug shiny black exterior.", + "Using the arm, take the black mug glossy ceramic material at edge contact point 0, raise the black mug glossy ceramic material, move to the rack with angular body, hook the black mug glossy ceramic material onto the rack with angular body, and release the black mug glossy ceramic material.", + "Take the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish up, move the cylindrical mug with black finish in front of the dark gray angled rack, hang the cylindrical mug with black finish onto the dark gray angled rack, then release the cylindrical mug with black finish.", + "Grab the drinking mug shiny black exterior at edge contact point 0, lift the drinking mug shiny black exterior, move it to the dark gray rack, hook the drinking mug shiny black exterior onto the dark gray rack, and release the drinking mug shiny black exterior.", + "Grab the black mug at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the black mug on the rack with two rods sticking out, then release the grip.", + "With the arm, take hold of the ceramic mug smooth outside by edge contact point 0, pick it up, bring it to the angular rack with slanted support rod, hang the ceramic mug smooth outside on the angular rack with slanted support rod, then release.", + "Guide the arm to the medium mug smooth rounded handle, grip the medium mug smooth rounded handle at edge contact point 0, lift the medium mug smooth rounded handle, align the medium mug smooth rounded handle with the metal rack, hang the medium mug smooth rounded handle on the metal rack, release the medium mug smooth rounded handle.", + "Take the medium black mug with handle by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the medium black mug with handle on the metallic rack with smooth finish, and release your grip.", + "Grab the medium mug smooth rounded handle at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the medium mug smooth rounded handle onto the metallic angular rack with rod pair, and release the medium mug smooth rounded handle.", + "Take the black ceramic mug by edge contact point 0, lift it from its spot, carry the black ceramic mug to the angular rack with slanted support rod, hang the black ceramic mug on the angular rack with slanted support rod, then release the black ceramic mug.", + "Use the arm to grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, move toward the smooth rack, hang the black mug with rounded sturdy handle on the smooth rack, then release the black mug with rounded sturdy handle.", + "Approach the black mug with rounded sturdy handle, take hold of the black mug with rounded sturdy handle by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the black mug with rounded sturdy handle onto the dark gray angled rack, and let go.", + "Go to the black mug, grasp the black mug by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the black mug on the metallic rack with smooth finish, and let go.", + "Have the arm reach the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug, move to the dark gray rack, hang the black ceramic mug on the dark gray rack, then open the grip.", + "With the arm, approach the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior, bring it to the dark gray angled rack, hang the drinking mug shiny black exterior on the dark gray angled rack, then let go.", + "Use the arm to grab the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, move over to the angled rack with long and short rods, hang the glossy black mug medium-sized for drinking on the angled rack with long and short rods, and release the glossy black mug medium-sized for drinking.", + "Grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move it over to the metallic rack with smooth finish, hook the ceramic mug smooth outside onto the metallic rack with smooth finish, and release the ceramic mug smooth outside.", + "Grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle up, move the medium mug smooth rounded handle to the metal rack, hang the medium mug smooth rounded handle on the metal rack, and let go of the medium mug smooth rounded handle.", + "Have the arm grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, bring it to the smooth dark gray rack, hang the medium mug smooth rounded handle from the smooth dark gray rack, then release.", + "Hold the ceramic mug smooth outside at edge contact point 0, lift it up, move toward the metal rack, place the ceramic mug smooth outside onto the metal rack to hang, then let go.", + "Move the arm toward the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift it, travel to the smooth dark gray rack, place the cylindrical mug with black finish onto the smooth dark gray rack to hang, then release.", + "Pick up the medium black mug with handle by edge contact point 0, move the medium black mug with handle to the angled rack with long and short rods, hang the medium black mug with handle on the angled rack with long and short rods, and release the medium black mug with handle once it holds.", + "Direct the arm to grip the cylindrical mug with black finish at edge contact point 0, pick the cylindrical mug with black finish up, carry it to the metallic rack with smooth finish, hang the cylindrical mug with black finish on the metallic rack with smooth finish, and release.", + "Move the arm toward the medium black mug with handle, grasp the medium black mug with handle at edge contact point 0, lift the medium black mug with handle, carry the medium black mug with handle to the dark gray rack, hang the medium black mug with handle on the dark gray rack, release the medium black mug with handle.", + "Hold the mug with curved black handle using edge contact point 0, lift the mug with curved black handle up, bring the mug with curved black handle to the metal rack, hang the mug with curved black handle on the metal rack, then release.", + "Get to the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, bring it to the smooth rack, hang the palm-sized mug glossy black body on the smooth rack, and release.", + "With the arm, grasp the black mug glossy ceramic material by edge contact point 0, lift and transport the black mug glossy ceramic material to the angular rack with slanted support rod, hang the black mug glossy ceramic material on the angular rack with slanted support rod, then let go.", + "Guide the arm to the black mug, grip the black mug by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the black mug on the medium rack with protruding rods, and release.", + "Reach for the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body clear, place the palm-sized mug glossy black body onto the dark gray angled rack to hang, then release the palm-sized mug glossy black body.", + "Take the ceramic mug smooth outside by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the ceramic mug smooth outside onto the angular rack with slanted support rod so it hangs, then let go.", + "Grasp the cylindrical mug with black finish at edge contact point 0, lift the cylindrical mug with black finish from its spot, carry the cylindrical mug with black finish to the smooth rack, hang the cylindrical mug with black finish on the smooth rack, and release.", + "Grasp the black mug by edge contact point 0, lift the black mug, bring the black mug to the smooth rack, set the black mug onto the smooth rack to hang, and release the black mug.", + "Move the arm to the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift, carry to the dark gray rack, hang the mug with curved black handle on the dark gray rack, release the mug with curved black handle.", + "Bring the arm to the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift it, move to the metal rack, hang the mug with curved black handle on the metal rack, then let go.", + "Send the arm to the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, carry the glossy black mug medium-sized for drinking to the angular rack with slanted support rod, hang the glossy black mug medium-sized for drinking on the angular rack with slanted support rod, and release the glossy black mug medium-sized for drinking.", + "Using the arm, secure the mug with curved black handle by edge contact point 0, lift, align the mug with curved black handle with the medium rack with protruding rods, hang the mug with curved black handle on the medium rack with protruding rods, and let go.", + "With the arm, take the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking clear, move to the angular rack with slanted support rod, hook the glossy black mug medium-sized for drinking onto the angular rack with slanted support rod, then open the grip.", + "Reach the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, carry the black mug with rounded sturdy handle to the rack with angular body, hang the black mug with rounded sturdy handle on the rack with angular body, then release the black mug with rounded sturdy handle.", + "Direct the arm to the black mug, grasp the black mug by edge contact point 0, lift the black mug clear, move to the metallic rack with smooth finish, hang the black mug on the metallic rack with smooth finish, release the grip.", + "With the arm, reach the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift, align it to the dark gray angled rack, hang the black ceramic mug on the dark gray angled rack, then release the black ceramic mug.", + "Grab the black ceramic mug at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the black ceramic mug onto the smooth dark gray rack so it hangs, then release the black ceramic mug.", + "Using the arm, take the black mug glossy ceramic material at edge contact point 0, raise the black mug glossy ceramic material, move to the metallic angular rack with rod pair, hook the black mug glossy ceramic material onto the metallic angular rack with rod pair, and release the black mug glossy ceramic material.", + "Take the medium black mug with handle by edge contact point 0, lift the medium black mug with handle up, move the medium black mug with handle in front of the smooth dark gray rack, hang the medium black mug with handle onto the smooth dark gray rack, then release the medium black mug with handle.", + "Grab the palm-sized mug glossy black body at edge contact point 0, lift the palm-sized mug glossy black body, move it to the metallic angular rack with rod pair, hook the palm-sized mug glossy black body onto the metallic angular rack with rod pair, and release the palm-sized mug glossy black body.", + "Grab the black ceramic mug at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the black ceramic mug on the dark gray angled rack, then release the grip.", + "With the arm, take hold of the medium mug smooth rounded handle by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the medium mug smooth rounded handle on the medium rack with protruding rods, then release.", + "Guide the arm to the cylindrical mug with black finish, grip the cylindrical mug with black finish at edge contact point 0, lift the cylindrical mug with black finish, align the cylindrical mug with black finish with the angled rack with long and short rods, hang the cylindrical mug with black finish on the angled rack with long and short rods, release the cylindrical mug with black finish.", + "Take the medium mug smooth rounded handle by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the medium mug smooth rounded handle on the medium rack with protruding rods, and release your grip.", + "Grab the drinking mug shiny black exterior at edge contact point 0, pick it up, move it over to the rack with angular body, hang the drinking mug shiny black exterior onto the rack with angular body, and release the drinking mug shiny black exterior.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it from its spot, carry the black mug glossy ceramic material to the medium rack with protruding rods, hang the black mug glossy ceramic material on the medium rack with protruding rods, then release the black mug glossy ceramic material.", + "Use the arm to grasp the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, move toward the rack with angular body, hang the palm-sized mug glossy black body on the rack with angular body, then release the palm-sized mug glossy black body.", + "Approach the medium mug smooth rounded handle, take hold of the medium mug smooth rounded handle by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the medium mug smooth rounded handle onto the angular rack with slanted support rod, and let go.", + "Go to the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the cylindrical mug with black finish on the metallic rack with smooth finish, and let go.", + "Have the arm reach the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, move to the metallic rack with smooth finish, hang the palm-sized mug glossy black body on the metallic rack with smooth finish, then open the grip.", + "With the arm, approach the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift the medium black mug with handle, bring it to the metallic rack with smooth finish, hang the medium black mug with handle on the metallic rack with smooth finish, then let go.", + "Use the arm to grab the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, move over to the metallic angular rack with rod pair, hang the palm-sized mug glossy black body on the metallic angular rack with rod pair, and release the palm-sized mug glossy black body.", + "Grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, move it over to the metallic angular rack with rod pair, hook the black mug with rounded sturdy handle onto the metallic angular rack with rod pair, and release the black mug with rounded sturdy handle.", + "Grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish up, move the cylindrical mug with black finish to the medium rack with protruding rods, hang the cylindrical mug with black finish on the medium rack with protruding rods, and let go of the cylindrical mug with black finish.", + "Have the arm grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, bring it to the dark gray angled rack, hang the mug with curved black handle from the dark gray angled rack, then release.", + "Hold the ceramic mug smooth outside at edge contact point 0, lift it up, move toward the rack with angular body, place the ceramic mug smooth outside onto the rack with angular body to hang, then let go.", + "Move the arm toward the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the black ceramic mug onto the rack with two rods sticking out to hang, then release.", + "Pick up the black mug by edge contact point 0, move the black mug to the dark gray angled rack, hang the black mug on the dark gray angled rack, and release the black mug once it holds.", + "Direct the arm to grip the mug with curved black handle at edge contact point 0, pick the mug with curved black handle up, carry it to the angular rack with slanted support rod, hang the mug with curved black handle on the angular rack with slanted support rod, and release.", + "Move the arm toward the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle at edge contact point 0, lift the medium mug smooth rounded handle, carry the medium mug smooth rounded handle to the metallic rack with smooth finish, hang the medium mug smooth rounded handle on the metallic rack with smooth finish, release the medium mug smooth rounded handle.", + "Hold the medium mug smooth rounded handle using edge contact point 0, lift the medium mug smooth rounded handle up, bring the medium mug smooth rounded handle to the angular rack with slanted support rod, hang the medium mug smooth rounded handle on the angular rack with slanted support rod, then release.", + "Get to the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift the medium black mug with handle, bring it to the smooth dark gray rack, hang the medium black mug with handle on the smooth dark gray rack, and release.", + "With the arm, grasp the palm-sized mug glossy black body by edge contact point 0, lift and transport the palm-sized mug glossy black body to the smooth dark gray rack, hang the palm-sized mug glossy black body on the smooth dark gray rack, then let go.", + "Guide the arm to the black mug glossy ceramic material, grip the black mug glossy ceramic material by edge contact point 0, pick it up, move to the dark gray angled rack, hang the black mug glossy ceramic material on the dark gray angled rack, and release.", + "Reach for the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior clear, place the drinking mug shiny black exterior onto the smooth rack to hang, then release the drinking mug shiny black exterior.", + "Take the black mug by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the black mug onto the metallic angular rack with rod pair so it hangs, then let go.", + "Grasp the ceramic mug smooth outside at edge contact point 0, lift the ceramic mug smooth outside from its spot, carry the ceramic mug smooth outside to the smooth dark gray rack, hang the ceramic mug smooth outside on the smooth dark gray rack, and release.", + "Grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, bring the black mug with rounded sturdy handle to the smooth rack, set the black mug with rounded sturdy handle onto the smooth rack to hang, and release the black mug with rounded sturdy handle.", + "Move the arm to the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the cylindrical mug with black finish on the medium rack with protruding rods, release the cylindrical mug with black finish.", + "Bring the arm to the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the black mug glossy ceramic material on the rack with two rods sticking out, then let go.", + "Send the arm to the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift it, carry the black mug glossy ceramic material to the angled rack with long and short rods, hang the black mug glossy ceramic material on the angled rack with long and short rods, and release the black mug glossy ceramic material.", + "Using the arm, secure the black mug by edge contact point 0, lift, align the black mug with the smooth rack, hang the black mug on the smooth rack, and let go.", + "With the arm, take the medium black mug with handle by edge contact point 0, lift the medium black mug with handle clear, move to the metal rack, hook the medium black mug with handle onto the metal rack, then open the grip.", + "Reach the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material, carry the black mug glossy ceramic material to the metallic angular rack with rod pair, hang the black mug glossy ceramic material on the metallic angular rack with rod pair, then release the black mug glossy ceramic material.", + "Direct the arm to the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside clear, move to the dark gray angled rack, hang the ceramic mug smooth outside on the dark gray angled rack, release the grip.", + "With the arm, reach the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift, align it to the medium rack with protruding rods, hang the black ceramic mug on the medium rack with protruding rods, then release the black ceramic mug.", + "Grab the black mug with rounded sturdy handle at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the black mug with rounded sturdy handle onto the metallic angular rack with rod pair so it hangs, then release the black mug with rounded sturdy handle.", + "Using the arm, take the black mug glossy ceramic material at edge contact point 0, raise the black mug glossy ceramic material, move to the metallic rack with smooth finish, hook the black mug glossy ceramic material onto the metallic rack with smooth finish, and release the black mug glossy ceramic material.", + "Take the mug with curved black handle by edge contact point 0, lift the mug with curved black handle up, move the mug with curved black handle in front of the angled rack with long and short rods, hang the mug with curved black handle onto the angled rack with long and short rods, then release the mug with curved black handle.", + "Grab the cylindrical mug with black finish at edge contact point 0, lift the cylindrical mug with black finish, move it to the smooth rack, hook the cylindrical mug with black finish onto the smooth rack, and release the cylindrical mug with black finish.", + "Grab the medium mug smooth rounded handle at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the medium mug smooth rounded handle on the rack with two rods sticking out, then release the grip.", + "With the arm, take hold of the medium black mug with handle by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the medium black mug with handle on the angled rack with long and short rods, then release.", + "Guide the arm to the black ceramic mug, grip the black ceramic mug at edge contact point 0, lift the black ceramic mug, align the black ceramic mug with the metallic rack with smooth finish, hang the black ceramic mug on the metallic rack with smooth finish, release the black ceramic mug.", + "Take the ceramic mug smooth outside by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the ceramic mug smooth outside on the dark gray angled rack, and release your grip.", + "Grab the cylindrical mug with black finish at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the cylindrical mug with black finish onto the rack with two rods sticking out, and release the cylindrical mug with black finish.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it from its spot, carry the black mug glossy ceramic material to the metal rack, hang the black mug glossy ceramic material on the metal rack, then release the black mug glossy ceramic material.", + "Use the arm to grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, move toward the angled rack with long and short rods, hang the black mug with rounded sturdy handle on the angled rack with long and short rods, then release the black mug with rounded sturdy handle.", + "Approach the ceramic mug smooth outside, take hold of the ceramic mug smooth outside by edge contact point 0, raise it, bring it to the smooth rack, hook the ceramic mug smooth outside onto the smooth rack, and let go.", + "Go to the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift it clear, align it with the smooth rack, hang the black mug glossy ceramic material on the smooth rack, and let go.", + "Have the arm reach the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, move to the angled rack with long and short rods, hang the black mug with rounded sturdy handle on the angled rack with long and short rods, then open the grip." + ], + "unseen": [ + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release the rounded mug with glossy shine.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release the cylindrical drinking mug black color.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release the mug for liquids black ceramic body.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release the mug for liquids black ceramic body.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release the cylindrical drinking mug black color.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go of the cylindrical drinking mug black color.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go of the rounded mug with glossy shine.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release the mug for liquids black ceramic body.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go of the cylindrical drinking mug black color.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release the mug for liquids black ceramic body.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go of the rounded mug with glossy shine.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release the mug for liquids black ceramic body.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go of the rounded mug with glossy shine.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode13.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..5af421cbd11d16cf0ffac7614e0032550dcf5b71 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Have the arm reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move to the metal rack, hang the cylindrical mug with curved handle on the metal rack, then open the grip.", + "With the arm, reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the hand-sized mug with blue artwork on the metallic rack with smooth finish, then release the hand-sized mug with blue artwork.", + "Get to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, bring it to the smooth rack, hang the mug for drinking liquids on the smooth rack, and release.", + "Hold the mug for drinking liquids at edge contact point 0, lift it up, move toward the dark gray angled rack, place the mug for drinking liquids onto the dark gray angled rack to hang, then let go.", + "Grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move it over to the angular rack with slanted support rod, hook the white drinking mug with smooth surface onto the angular rack with slanted support rod, and release the white drinking mug with smooth surface.", + "Use the arm to grab the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move over to the medium rack with protruding rods, hang the medium mug with blue design on the medium rack with protruding rods, and release the medium mug with blue design.", + "Grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, bring the white ceramic mug with handle to the rack with two rods sticking out, set the white ceramic mug with handle onto the rack with two rods sticking out to hang, and release the white ceramic mug with handle.", + "Grab the medium mug with blue design at edge contact point 0, pick it up, move it over to the dark gray rack, hang the medium mug with blue design onto the dark gray rack, and release the medium mug with blue design.", + "Using the arm, take the medium mug with blue design at edge contact point 0, raise the medium mug with blue design, move to the smooth dark gray rack, hook the medium mug with blue design onto the smooth dark gray rack, and release the medium mug with blue design.", + "Grab the printed white ceramic mug at edge contact point 0, raise it, guide it to the metal rack, set the printed white ceramic mug onto the metal rack so it hangs, then release the printed white ceramic mug.", + "Take the white ceramic mug with handle by edge contact point 0, lift it from its spot, carry the white ceramic mug with handle to the metallic rack with smooth finish, hang the white ceramic mug with handle on the metallic rack with smooth finish, then release the white ceramic mug with handle.", + "Move the arm toward the medium mug with blue design, grasp the medium mug with blue design at edge contact point 0, lift the medium mug with blue design, carry the medium mug with blue design to the angled rack with long and short rods, hang the medium mug with blue design on the angled rack with long and short rods, release the medium mug with blue design.", + "Have the arm grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the dark gray angled rack, hang the hand-sized mug with blue artwork from the dark gray angled rack, then release.", + "Approach the medium mug with blue design, take hold of the medium mug with blue design by edge contact point 0, raise it, bring it to the rack with angular body, hook the medium mug with blue design onto the rack with angular body, and let go.", + "With the arm, take hold of the white drinking mug with smooth surface by edge contact point 0, pick it up, bring it to the metal rack, hang the white drinking mug with smooth surface on the metal rack, then release.", + "Reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, carry the white mug to the rack with two rods sticking out, hang the white mug on the rack with two rods sticking out, then release the white mug.", + "Move the arm toward the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the printed white ceramic mug onto the rack with two rods sticking out to hang, then release.", + "Grab the mug with blue print at edge contact point 0, lift the mug with blue print, move it to the dark gray rack, hook the mug with blue print onto the dark gray rack, and release the mug with blue print.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release your grip.", + "Go to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it clear, align it with the metal rack, hang the mug for drinking liquids on the metal rack, and let go.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the metallic angular rack with rod pair, hang the ceramic mug onto the metallic angular rack with rod pair, then release the ceramic mug.", + "Send the arm to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift it, carry the white drinking mug with smooth surface to the medium rack with protruding rods, hang the white drinking mug with smooth surface on the medium rack with protruding rods, and release the white drinking mug with smooth surface.", + "With the arm, approach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the metallic rack with smooth finish, hang the white mug with glossy finish on the metallic rack with smooth finish, then let go.", + "Move the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift, carry to the rack with angular body, hang the medium mug with blue design on the rack with angular body, release the medium mug with blue design.", + "Grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface from its spot, carry the white drinking mug with smooth surface to the smooth rack, hang the white drinking mug with smooth surface on the smooth rack, and release.", + "Guide the arm to the printed white ceramic mug, grip the printed white ceramic mug by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the printed white ceramic mug on the metallic rack with smooth finish, and release.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it, bring it over to the rack with angular body, place the white drinking mug with smooth surface onto the rack with angular body so it hangs, then let go.", + "Use the arm to grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, move toward the smooth dark gray rack, hang the printed white ceramic mug on the smooth dark gray rack, then release the printed white ceramic mug.", + "Direct the arm to grip the medium mug with blue design at edge contact point 0, pick the medium mug with blue design up, carry it to the smooth dark gray rack, hang the medium mug with blue design on the smooth dark gray rack, and release.", + "Using the arm, secure the white drinking mug with smooth surface by edge contact point 0, lift, align the white drinking mug with smooth surface with the rack with angular body, hang the white drinking mug with smooth surface on the rack with angular body, and let go.", + "Pick up the medium mug with blue design by edge contact point 0, move the medium mug with blue design to the rack with angular body, hang the medium mug with blue design on the rack with angular body, and release the medium mug with blue design once it holds.", + "With the arm, take the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the metallic rack with smooth finish, hook the medium mug with blue design onto the metallic rack with smooth finish, then open the grip.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, release the grip.", + "Guide the arm to the white mug, grip the white mug at edge contact point 0, lift the white mug, align the white mug with the angled rack with long and short rods, hang the white mug on the angled rack with long and short rods, release the white mug.", + "Reach for the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface clear, place the white drinking mug with smooth surface onto the rack with two rods sticking out to hang, then release the white drinking mug with smooth surface.", + "Grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle up, move the cylindrical mug with curved handle to the metal rack, hang the cylindrical mug with curved handle on the metal rack, and let go of the cylindrical mug with curved handle.", + "Bring the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, then let go.", + "Grab the printed white ceramic mug at edge contact point 0, lift it, bring it to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, then release the grip.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, then release.", + "With the arm, grasp the printed white ceramic mug by edge contact point 0, lift and transport the printed white ceramic mug to the metal rack, hang the printed white ceramic mug on the metal rack, then let go.", + "Have the arm reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move to the dark gray angled rack, hang the white ceramic mug with handle on the dark gray angled rack, then open the grip.", + "With the arm, reach the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift, align it to the metal rack, hang the printed white ceramic mug on the metal rack, then release the printed white ceramic mug.", + "Get to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the smooth dark gray rack, hang the smooth white mug on the smooth dark gray rack, and release.", + "Hold the mug for drinking liquids at edge contact point 0, lift it up, move toward the metallic angular rack with rod pair, place the mug for drinking liquids onto the metallic angular rack with rod pair to hang, then let go.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move it over to the rack with two rods sticking out, hook the mug for drinking liquids onto the rack with two rods sticking out, and release the mug for drinking liquids.", + "Use the arm to grab the mug with blue print by edge contact point 0, lift the mug with blue print, move over to the dark gray rack, hang the mug with blue print on the dark gray rack, and release the mug with blue print.", + "Grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring the white drinking mug with smooth surface to the medium rack with protruding rods, set the white drinking mug with smooth surface onto the medium rack with protruding rods to hang, and release the white drinking mug with smooth surface.", + "Grab the white drinking mug with smooth surface at edge contact point 0, pick it up, move it over to the smooth rack, hang the white drinking mug with smooth surface onto the smooth rack, and release the white drinking mug with smooth surface.", + "Using the arm, take the printed white ceramic mug at edge contact point 0, raise the printed white ceramic mug, move to the metal rack, hook the printed white ceramic mug onto the metal rack, and release the printed white ceramic mug.", + "Grab the white mug at edge contact point 0, raise it, guide it to the dark gray angled rack, set the white mug onto the dark gray angled rack so it hangs, then release the white mug.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift it from its spot, carry the hand-sized mug with blue artwork to the smooth rack, hang the hand-sized mug with blue artwork on the smooth rack, then release the hand-sized mug with blue artwork.", + "Move the arm toward the mug with blue print, grasp the mug with blue print at edge contact point 0, lift the mug with blue print, carry the mug with blue print to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, release the mug with blue print.", + "Have the arm grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the smooth rack, hang the medium mug with blue design from the smooth rack, then release.", + "Approach the white drinking mug with smooth surface, take hold of the white drinking mug with smooth surface by edge contact point 0, raise it, bring it to the smooth rack, hook the white drinking mug with smooth surface onto the smooth rack, and let go.", + "With the arm, take hold of the white mug with glossy finish by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the white mug with glossy finish on the medium rack with protruding rods, then release.", + "Reach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, carry the white mug with glossy finish to the rack with angular body, hang the white mug with glossy finish on the rack with angular body, then release the white mug with glossy finish.", + "Move the arm toward the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it, travel to the smooth rack, place the smooth white mug onto the smooth rack to hang, then release.", + "Grab the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface, move it to the smooth rack, hook the white drinking mug with smooth surface onto the smooth rack, and release the white drinking mug with smooth surface.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the white drinking mug with smooth surface on the angled rack with long and short rods, and release your grip.", + "Go to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift it clear, align it with the metal rack, hang the white mug with glossy finish on the metal rack, and let go.", + "Take the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug in front of the dark gray angled rack, hang the smooth white mug onto the dark gray angled rack, then release the smooth white mug.", + "Send the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, carry the hand-sized mug with blue artwork to the angular rack with slanted support rod, hang the hand-sized mug with blue artwork on the angular rack with slanted support rod, and release the hand-sized mug with blue artwork.", + "With the arm, approach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the smooth dark gray rack, hang the medium mug with blue design on the smooth dark gray rack, then let go.", + "Move the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift, carry to the dark gray angled rack, hang the mug with blue print on the dark gray angled rack, release the mug with blue print.", + "Grasp the cylindrical mug with curved handle at edge contact point 0, lift the cylindrical mug with curved handle from its spot, carry the cylindrical mug with curved handle to the dark gray angled rack, hang the cylindrical mug with curved handle on the dark gray angled rack, and release.", + "Guide the arm to the white drinking mug with smooth surface, grip the white drinking mug with smooth surface by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, and release.", + "Take the white mug by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the white mug onto the metallic rack with smooth finish so it hangs, then let go.", + "Use the arm to grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move toward the metallic angular rack with rod pair, hang the mug for drinking liquids on the metallic angular rack with rod pair, then release the mug for drinking liquids.", + "Direct the arm to grip the white ceramic mug with handle at edge contact point 0, pick the white ceramic mug with handle up, carry it to the metallic rack with smooth finish, hang the white ceramic mug with handle on the metallic rack with smooth finish, and release.", + "Using the arm, secure the white mug by edge contact point 0, lift, align the white mug with the smooth dark gray rack, hang the white mug on the smooth dark gray rack, and let go.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, and release the ceramic mug once it holds.", + "With the arm, take the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, move to the medium rack with protruding rods, hook the cylindrical mug with curved handle onto the medium rack with protruding rods, then open the grip.", + "Direct the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the angled rack with long and short rods, hang the mug with blue print on the angled rack with long and short rods, release the grip.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, align the hand-sized mug with blue artwork with the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, release the hand-sized mug with blue artwork.", + "Reach for the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish clear, place the white mug with glossy finish onto the angular rack with slanted support rod to hang, then release the white mug with glossy finish.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids up, move the mug for drinking liquids to the dark gray rack, hang the mug for drinking liquids on the dark gray rack, and let go of the mug for drinking liquids.", + "Bring the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, move to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, then let go.", + "Grab the white mug with glossy finish at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the white mug with glossy finish on the metallic angular rack with rod pair, then release the grip.", + "Hold the hand-sized mug with blue artwork using edge contact point 0, lift the hand-sized mug with blue artwork up, bring the hand-sized mug with blue artwork to the metal rack, hang the hand-sized mug with blue artwork on the metal rack, then release.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the dark gray angled rack, hang the white drinking mug with smooth surface on the dark gray angled rack, then let go.", + "Have the arm reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move to the dark gray angled rack, hang the cylindrical mug with curved handle on the dark gray angled rack, then open the grip.", + "With the arm, reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift, align it to the metal rack, hang the white ceramic mug with handle on the metal rack, then release the white ceramic mug with handle.", + "Get to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the rack with angular body, hang the smooth white mug on the rack with angular body, and release.", + "Hold the white drinking mug with smooth surface at edge contact point 0, lift it up, move toward the rack with angular body, place the white drinking mug with smooth surface onto the rack with angular body to hang, then let go.", + "Grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move it over to the smooth dark gray rack, hook the white drinking mug with smooth surface onto the smooth dark gray rack, and release the white drinking mug with smooth surface.", + "Use the arm to grab the ceramic mug by edge contact point 0, lift the ceramic mug, move over to the rack with angular body, hang the ceramic mug on the rack with angular body, and release the ceramic mug.", + "Grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring the hand-sized mug with blue artwork to the metal rack, set the hand-sized mug with blue artwork onto the metal rack to hang, and release the hand-sized mug with blue artwork.", + "Grab the cylindrical mug with curved handle at edge contact point 0, pick it up, move it over to the smooth rack, hang the cylindrical mug with curved handle onto the smooth rack, and release the cylindrical mug with curved handle.", + "Using the arm, take the white drinking mug with smooth surface at edge contact point 0, raise the white drinking mug with smooth surface, move to the angled rack with long and short rods, hook the white drinking mug with smooth surface onto the angled rack with long and short rods, and release the white drinking mug with smooth surface.", + "Grab the hand-sized mug with blue artwork at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the hand-sized mug with blue artwork onto the angled rack with long and short rods so it hangs, then release the hand-sized mug with blue artwork.", + "Take the smooth white mug by edge contact point 0, lift it from its spot, carry the smooth white mug to the dark gray rack, hang the smooth white mug on the dark gray rack, then release the smooth white mug.", + "Move the arm toward the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface, carry the white drinking mug with smooth surface to the angled rack with long and short rods, hang the white drinking mug with smooth surface on the angled rack with long and short rods, release the white drinking mug with smooth surface.", + "Have the arm grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, bring it to the dark gray rack, hang the white ceramic mug with handle from the dark gray rack, then release.", + "Approach the mug for drinking liquids, take hold of the mug for drinking liquids by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the mug for drinking liquids onto the metallic angular rack with rod pair, and let go.", + "With the arm, take hold of the printed white ceramic mug by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the printed white ceramic mug on the metallic rack with smooth finish, then release.", + "Reach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, carry the mug for drinking liquids to the angled rack with long and short rods, hang the mug for drinking liquids on the angled rack with long and short rods, then release the mug for drinking liquids.", + "Move the arm toward the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the ceramic mug onto the angled rack with long and short rods to hang, then release.", + "Grab the white mug at edge contact point 0, lift the white mug, move it to the smooth rack, hook the white mug onto the smooth rack, and release the white mug.", + "Take the smooth white mug by edge contact point 0, lift it off the surface, move it to the smooth rack, hang the smooth white mug on the smooth rack, and release your grip.", + "Go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, and let go." + ], + "unseen": [ + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode14.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..70b300583be31cb45521efd7e583c79c8792caaf --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the white drinking mug with smooth surface by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the white drinking mug with smooth surface on the rack with two rods sticking out, and release your grip.", + "With the arm, approach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the medium rack with protruding rods, hang the white drinking mug with smooth surface on the medium rack with protruding rods, then let go.", + "Use the arm to grasp the white mug by edge contact point 0, lift the white mug, move toward the angled rack with long and short rods, hang the white mug on the angled rack with long and short rods, then release the white mug.", + "Grab the cylindrical mug with curved handle at edge contact point 0, pick it up, move it over to the rack with angular body, hang the cylindrical mug with curved handle onto the rack with angular body, and release the cylindrical mug with curved handle.", + "Hold the cylindrical mug with curved handle using edge contact point 0, lift the cylindrical mug with curved handle up, bring the cylindrical mug with curved handle to the angular rack with slanted support rod, hang the cylindrical mug with curved handle on the angular rack with slanted support rod, then release.", + "Using the arm, take the white mug with glossy finish at edge contact point 0, raise the white mug with glossy finish, move to the rack with angular body, hook the white mug with glossy finish onto the rack with angular body, and release the white mug with glossy finish.", + "Grab the mug with blue print at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the mug with blue print onto the angular rack with slanted support rod so it hangs, then release the mug with blue print.", + "Go to the white mug, grasp the white mug by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the white mug on the dark gray angled rack, and let go.", + "Grasp the white mug by edge contact point 0, lift the white mug, bring the white mug to the smooth dark gray rack, set the white mug onto the smooth dark gray rack to hang, and release the white mug.", + "Pick up the white drinking mug with smooth surface by edge contact point 0, move the white drinking mug with smooth surface to the metallic rack with smooth finish, hang the white drinking mug with smooth surface on the metallic rack with smooth finish, and release the white drinking mug with smooth surface once it holds.", + "Bring the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the medium mug with blue design on the rack with two rods sticking out, then let go.", + "Using the arm, secure the mug for drinking liquids by edge contact point 0, lift, align the mug for drinking liquids with the angular rack with slanted support rod, hang the mug for drinking liquids on the angular rack with slanted support rod, and let go.", + "Grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, move it over to the angled rack with long and short rods, hook the printed white ceramic mug onto the angled rack with long and short rods, and release the printed white ceramic mug.", + "Move the arm toward the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the smooth white mug onto the medium rack with protruding rods to hang, then release.", + "Have the arm grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, bring it to the dark gray rack, hang the cylindrical mug with curved handle from the dark gray rack, then release.", + "Move the arm to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift, carry to the dark gray rack, hang the smooth white mug on the dark gray rack, release the smooth white mug.", + "With the arm, take hold of the ceramic mug by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, then release.", + "Move the arm toward the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface, carry the white drinking mug with smooth surface to the dark gray angled rack, hang the white drinking mug with smooth surface on the dark gray angled rack, release the white drinking mug with smooth surface.", + "Guide the arm to the mug with blue print, grip the mug with blue print at edge contact point 0, lift the mug with blue print, align the mug with blue print with the dark gray angled rack, hang the mug with blue print on the dark gray angled rack, release the mug with blue print.", + "Use the arm to grab the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move over to the rack with two rods sticking out, hang the cylindrical mug with curved handle on the rack with two rods sticking out, and release the cylindrical mug with curved handle.", + "Approach the smooth white mug, take hold of the smooth white mug by edge contact point 0, raise it, bring it to the rack with angular body, hook the smooth white mug onto the rack with angular body, and let go.", + "Reach for the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle clear, place the white ceramic mug with handle onto the dark gray angled rack to hang, then release the white ceramic mug with handle.", + "Take the white mug with glossy finish by edge contact point 0, lift it, bring it over to the rack with angular body, place the white mug with glossy finish onto the rack with angular body so it hangs, then let go.", + "Have the arm reach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move to the rack with two rods sticking out, hang the white mug with glossy finish on the rack with two rods sticking out, then open the grip.", + "Take the medium mug with blue design by edge contact point 0, lift the medium mug with blue design up, move the medium mug with blue design in front of the metallic rack with smooth finish, hang the medium mug with blue design onto the metallic rack with smooth finish, then release the medium mug with blue design.", + "Guide the arm to the smooth white mug, grip the smooth white mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the smooth white mug on the rack with two rods sticking out, and release.", + "With the arm, reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift, align it to the metal rack, hang the white ceramic mug with handle on the metal rack, then release the white ceramic mug with handle.", + "Direct the arm to grip the white ceramic mug with handle at edge contact point 0, pick the white ceramic mug with handle up, carry it to the metal rack, hang the white ceramic mug with handle on the metal rack, and release.", + "Get to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the metallic angular rack with rod pair, hang the medium mug with blue design on the metallic angular rack with rod pair, and release.", + "Grasp the mug with blue print at edge contact point 0, lift the mug with blue print from its spot, carry the mug with blue print to the angular rack with slanted support rod, hang the mug with blue print on the angular rack with slanted support rod, and release.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift it from its spot, carry the cylindrical mug with curved handle to the angular rack with slanted support rod, hang the cylindrical mug with curved handle on the angular rack with slanted support rod, then release the cylindrical mug with curved handle.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish up, move the white mug with glossy finish to the smooth rack, hang the white mug with glossy finish on the smooth rack, and let go of the white mug with glossy finish.", + "Grab the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids, move it to the metal rack, hook the mug for drinking liquids onto the metal rack, and release the mug for drinking liquids.", + "Reach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, carry the medium mug with blue design to the metal rack, hang the medium mug with blue design on the metal rack, then release the medium mug with blue design.", + "Grab the white drinking mug with smooth surface at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the white drinking mug with smooth surface on the angular rack with slanted support rod, then release the grip.", + "Direct the arm to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug clear, move to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, release the grip.", + "Send the arm to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift it, carry the white drinking mug with smooth surface to the smooth rack, hang the white drinking mug with smooth surface on the smooth rack, and release the white drinking mug with smooth surface.", + "Hold the white mug at edge contact point 0, lift it up, move toward the dark gray angled rack, place the white mug onto the dark gray angled rack to hang, then let go.", + "With the arm, grasp the white ceramic mug with handle by edge contact point 0, lift and transport the white ceramic mug with handle to the smooth rack, hang the white ceramic mug with handle on the smooth rack, then let go.", + "With the arm, take the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the angular rack with slanted support rod, hook the medium mug with blue design onto the angular rack with slanted support rod, then open the grip.", + "Take the smooth white mug by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the smooth white mug on the dark gray angled rack, and release your grip.", + "With the arm, approach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the medium rack with protruding rods, hang the medium mug with blue design on the medium rack with protruding rods, then let go.", + "Use the arm to grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move toward the medium rack with protruding rods, hang the white mug with glossy finish on the medium rack with protruding rods, then release the white mug with glossy finish.", + "Grab the hand-sized mug with blue artwork at edge contact point 0, pick it up, move it over to the dark gray rack, hang the hand-sized mug with blue artwork onto the dark gray rack, and release the hand-sized mug with blue artwork.", + "Hold the white mug with glossy finish using edge contact point 0, lift the white mug with glossy finish up, bring the white mug with glossy finish to the medium rack with protruding rods, hang the white mug with glossy finish on the medium rack with protruding rods, then release.", + "Using the arm, take the hand-sized mug with blue artwork at edge contact point 0, raise the hand-sized mug with blue artwork, move to the smooth rack, hook the hand-sized mug with blue artwork onto the smooth rack, and release the hand-sized mug with blue artwork.", + "Grab the white mug with glossy finish at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the white mug with glossy finish onto the rack with two rods sticking out so it hangs, then release the white mug with glossy finish.", + "Go to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it clear, align it with the dark gray rack, hang the smooth white mug on the dark gray rack, and let go.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring the white mug with glossy finish to the smooth dark gray rack, set the white mug with glossy finish onto the smooth dark gray rack to hang, and release the white mug with glossy finish.", + "Pick up the smooth white mug by edge contact point 0, move the smooth white mug to the rack with angular body, hang the smooth white mug on the rack with angular body, and release the smooth white mug once it holds.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the metal rack, hang the ceramic mug on the metal rack, then let go.", + "Using the arm, secure the printed white ceramic mug by edge contact point 0, lift, align the printed white ceramic mug with the angled rack with long and short rods, hang the printed white ceramic mug on the angled rack with long and short rods, and let go.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move it over to the angular rack with slanted support rod, hook the ceramic mug onto the angular rack with slanted support rod, and release the ceramic mug.", + "Move the arm toward the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the printed white ceramic mug onto the metallic rack with smooth finish to hang, then release.", + "Have the arm grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the rack with two rods sticking out, hang the white mug with glossy finish from the rack with two rods sticking out, then release.", + "Move the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift, carry to the dark gray angled rack, hang the mug with blue print on the dark gray angled rack, release the mug with blue print.", + "With the arm, take hold of the white mug by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the white mug on the dark gray angled rack, then release.", + "Move the arm toward the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle at edge contact point 0, lift the cylindrical mug with curved handle, carry the cylindrical mug with curved handle to the angled rack with long and short rods, hang the cylindrical mug with curved handle on the angled rack with long and short rods, release the cylindrical mug with curved handle.", + "Guide the arm to the smooth white mug, grip the smooth white mug at edge contact point 0, lift the smooth white mug, align the smooth white mug with the dark gray angled rack, hang the smooth white mug on the dark gray angled rack, release the smooth white mug.", + "Use the arm to grab the mug with blue print by edge contact point 0, lift the mug with blue print, move over to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and release the mug with blue print.", + "Approach the medium mug with blue design, take hold of the medium mug with blue design by edge contact point 0, raise it, bring it to the rack with angular body, hook the medium mug with blue design onto the rack with angular body, and let go.", + "Reach for the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print clear, place the mug with blue print onto the metallic angular rack with rod pair to hang, then release the mug with blue print.", + "Take the mug with blue print by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the mug with blue print onto the metallic rack with smooth finish so it hangs, then let go.", + "Have the arm reach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move to the metallic rack with smooth finish, hang the mug for drinking liquids on the metallic rack with smooth finish, then open the grip.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface up, move the white drinking mug with smooth surface in front of the angled rack with long and short rods, hang the white drinking mug with smooth surface onto the angled rack with long and short rods, then release the white drinking mug with smooth surface.", + "Guide the arm to the mug with blue print, grip the mug with blue print by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the mug with blue print on the rack with two rods sticking out, and release.", + "With the arm, reach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the white drinking mug with smooth surface on the angular rack with slanted support rod, then release the white drinking mug with smooth surface.", + "Direct the arm to grip the white drinking mug with smooth surface at edge contact point 0, pick the white drinking mug with smooth surface up, carry it to the angled rack with long and short rods, hang the white drinking mug with smooth surface on the angled rack with long and short rods, and release.", + "Get to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the angled rack with long and short rods, hang the printed white ceramic mug on the angled rack with long and short rods, and release.", + "Grasp the mug with blue print at edge contact point 0, lift the mug with blue print from its spot, carry the mug with blue print to the rack with angular body, hang the mug with blue print on the rack with angular body, and release.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift it from its spot, carry the hand-sized mug with blue artwork to the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, then release the hand-sized mug with blue artwork.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids up, move the mug for drinking liquids to the smooth rack, hang the mug for drinking liquids on the smooth rack, and let go of the mug for drinking liquids.", + "Grab the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids, move it to the dark gray angled rack, hook the mug for drinking liquids onto the dark gray angled rack, and release the mug for drinking liquids.", + "Reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, carry the white ceramic mug with handle to the smooth rack, hang the white ceramic mug with handle on the smooth rack, then release the white ceramic mug with handle.", + "Grab the mug with blue print at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the mug with blue print on the metallic angular rack with rod pair, then release the grip.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, release the grip.", + "Send the arm to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it, carry the cylindrical mug with curved handle to the metal rack, hang the cylindrical mug with curved handle on the metal rack, and release the cylindrical mug with curved handle.", + "Hold the white drinking mug with smooth surface at edge contact point 0, lift it up, move toward the dark gray angled rack, place the white drinking mug with smooth surface onto the dark gray angled rack to hang, then let go.", + "With the arm, grasp the mug with blue print by edge contact point 0, lift and transport the mug with blue print to the smooth rack, hang the mug with blue print on the smooth rack, then let go.", + "With the arm, take the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug clear, move to the smooth rack, hook the printed white ceramic mug onto the smooth rack, then open the grip.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the hand-sized mug with blue artwork on the angled rack with long and short rods, and release your grip.", + "With the arm, approach the white mug, grasp the white mug by edge contact point 0, lift the white mug, bring it to the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, then let go.", + "Use the arm to grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move toward the angular rack with slanted support rod, hang the hand-sized mug with blue artwork on the angular rack with slanted support rod, then release the hand-sized mug with blue artwork.", + "Grab the cylindrical mug with curved handle at edge contact point 0, pick it up, move it over to the dark gray rack, hang the cylindrical mug with curved handle onto the dark gray rack, and release the cylindrical mug with curved handle.", + "Hold the white ceramic mug with handle using edge contact point 0, lift the white ceramic mug with handle up, bring the white ceramic mug with handle to the angular rack with slanted support rod, hang the white ceramic mug with handle on the angular rack with slanted support rod, then release.", + "Using the arm, take the hand-sized mug with blue artwork at edge contact point 0, raise the hand-sized mug with blue artwork, move to the rack with angular body, hook the hand-sized mug with blue artwork onto the rack with angular body, and release the hand-sized mug with blue artwork.", + "Grab the white drinking mug with smooth surface at edge contact point 0, raise it, guide it to the dark gray rack, set the white drinking mug with smooth surface onto the dark gray rack so it hangs, then release the white drinking mug with smooth surface.", + "Go to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the smooth white mug on the smooth dark gray rack, and let go.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring the medium mug with blue design to the rack with angular body, set the medium mug with blue design onto the rack with angular body to hang, and release the medium mug with blue design.", + "Pick up the white drinking mug with smooth surface by edge contact point 0, move the white drinking mug with smooth surface to the rack with angular body, hang the white drinking mug with smooth surface on the rack with angular body, and release the white drinking mug with smooth surface once it holds.", + "Bring the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, move to the rack with angular body, hang the mug with blue print on the rack with angular body, then let go.", + "Using the arm, secure the white mug by edge contact point 0, lift, align the white mug with the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, and let go.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move it over to the dark gray angled rack, hook the mug for drinking liquids onto the dark gray angled rack, and release the mug for drinking liquids.", + "Move the arm toward the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the hand-sized mug with blue artwork onto the metallic angular rack with rod pair to hang, then release.", + "Have the arm grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the angled rack with long and short rods, hang the hand-sized mug with blue artwork from the angled rack with long and short rods, then release.", + "Move the arm to the white mug, grasp the white mug by edge contact point 0, lift, carry to the metal rack, hang the white mug on the metal rack, release the white mug.", + "With the arm, take hold of the mug with blue print by edge contact point 0, pick it up, bring it to the dark gray rack, hang the mug with blue print on the dark gray rack, then release.", + "Move the arm toward the smooth white mug, grasp the smooth white mug at edge contact point 0, lift the smooth white mug, carry the smooth white mug to the angular rack with slanted support rod, hang the smooth white mug on the angular rack with slanted support rod, release the smooth white mug.", + "Guide the arm to the ceramic mug, grip the ceramic mug at edge contact point 0, lift the ceramic mug, align the ceramic mug with the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, release the ceramic mug.", + "Use the arm to grab the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, move over to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, and release the printed white ceramic mug." + ], + "unseen": [ + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release the mug shaped like a cylinder.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode15.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..b27c64249b6b6b1378bba3c5d7ef90c024a574ac --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach for the ceramic mug with cartoons, grasp the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons clear, place the ceramic mug with cartoons onto the rack with two rods sticking out to hang, then release the ceramic mug with cartoons.", + "With the arm, reach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift, align it to the dark gray angled rack, hang the smooth ceramic mug on the dark gray angled rack, then release the smooth ceramic mug.", + "Take the mug with glossy texture by edge contact point 0, lift the mug with glossy texture up, move the mug with glossy texture in front of the smooth dark gray rack, hang the mug with glossy texture onto the smooth dark gray rack, then release the mug with glossy texture.", + "Bring the arm to the ceramic mug with cartoons, grasp the ceramic mug with cartoons by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the ceramic mug with cartoons on the metallic angular rack with rod pair, then let go.", + "Hold the colorful cartoon mug using edge contact point 0, lift the colorful cartoon mug up, bring the colorful cartoon mug to the rack with two rods sticking out, hang the colorful cartoon mug on the rack with two rods sticking out, then release.", + "Move the arm toward the mug with yellow chicken image, grasp the mug with yellow chicken image at edge contact point 0, lift the mug with yellow chicken image, carry the mug with yellow chicken image to the rack with angular body, hang the mug with yellow chicken image on the rack with angular body, release the mug with yellow chicken image.", + "Use the arm to grab the mug with cartoon design by edge contact point 0, lift the mug with cartoon design, move over to the metallic rack with smooth finish, hang the mug with cartoon design on the metallic rack with smooth finish, and release the mug with cartoon design.", + "Direct the arm to grip the mug with glossy texture at edge contact point 0, pick the mug with glossy texture up, carry it to the metallic angular rack with rod pair, hang the mug with glossy texture on the metallic angular rack with rod pair, and release.", + "Direct the arm to the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug clear, move to the angled rack with long and short rods, hang the colorful cartoon mug on the angled rack with long and short rods, release the grip.", + "Take the curved handle mug by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the curved handle mug onto the rack with two rods sticking out so it hangs, then let go.", + "Grab the mug for hot drinks at edge contact point 0, lift the mug for hot drinks, move it to the smooth dark gray rack, hook the mug for hot drinks onto the smooth dark gray rack, and release the mug for hot drinks.", + "Using the arm, take the medium mug fits in hand at edge contact point 0, raise the medium mug fits in hand, move to the smooth rack, hook the medium mug fits in hand onto the smooth rack, and release the medium mug fits in hand.", + "Move the arm to the curved handle mug, grasp the curved handle mug by edge contact point 0, lift, carry to the smooth dark gray rack, hang the curved handle mug on the smooth dark gray rack, release the curved handle mug.", + "Grasp the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons, bring the ceramic mug with cartoons to the medium rack with protruding rods, set the ceramic mug with cartoons onto the medium rack with protruding rods to hang, and release the ceramic mug with cartoons.", + "With the arm, grasp the mug for hot drinks by edge contact point 0, lift and transport the mug for hot drinks to the smooth rack, hang the mug for hot drinks on the smooth rack, then let go.", + "Using the arm, secure the colorful cartoon mug by edge contact point 0, lift, align the colorful cartoon mug with the metallic rack with smooth finish, hang the colorful cartoon mug on the metallic rack with smooth finish, and let go.", + "Guide the arm to the mug with glossy texture, grip the mug with glossy texture by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the mug with glossy texture on the smooth dark gray rack, and release.", + "Grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks up, move the mug for hot drinks to the angular rack with slanted support rod, hang the mug for hot drinks on the angular rack with slanted support rod, and let go of the mug for hot drinks.", + "Pick up the medium mug fits in hand by edge contact point 0, move the medium mug fits in hand to the angled rack with long and short rods, hang the medium mug fits in hand on the angled rack with long and short rods, and release the medium mug fits in hand once it holds.", + "Grab the colorful cartoon mug at edge contact point 0, pick it up, move it over to the angled rack with long and short rods, hang the colorful cartoon mug onto the angled rack with long and short rods, and release the colorful cartoon mug.", + "Grab the mug for hot drinks at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the mug for hot drinks onto the medium rack with protruding rods so it hangs, then release the mug for hot drinks.", + "Guide the arm to the mug for hot drinks, grip the mug for hot drinks at edge contact point 0, lift the mug for hot drinks, align the mug for hot drinks with the smooth rack, hang the mug for hot drinks on the smooth rack, release the mug for hot drinks.", + "With the arm, take hold of the ceramic mug with cartoons by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the ceramic mug with cartoons on the angled rack with long and short rods, then release.", + "Send the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry the smooth ceramic mug to the angled rack with long and short rods, hang the smooth ceramic mug on the angled rack with long and short rods, and release the smooth ceramic mug.", + "Get to the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug, bring it to the angled rack with long and short rods, hang the colorful cartoon mug on the angled rack with long and short rods, and release.", + "With the arm, take the medium light mug by edge contact point 0, lift the medium light mug clear, move to the smooth dark gray rack, hook the medium light mug onto the smooth dark gray rack, then open the grip.", + "Hold the mug with yellow chicken image at edge contact point 0, lift it up, move toward the smooth rack, place the mug with yellow chicken image onto the smooth rack to hang, then let go.", + "Take the mug for hot drinks by edge contact point 0, lift it from its spot, carry the mug for hot drinks to the metal rack, hang the mug for hot drinks on the metal rack, then release the mug for hot drinks.", + "With the arm, approach the ceramic mug with cartoons, grasp the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons, bring it to the dark gray rack, hang the ceramic mug with cartoons on the dark gray rack, then let go.", + "Reach the medium light mug, grasp the medium light mug by edge contact point 0, lift the medium light mug, carry the medium light mug to the angled rack with long and short rods, hang the medium light mug on the angled rack with long and short rods, then release the medium light mug.", + "Have the arm grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks, bring it to the medium rack with protruding rods, hang the mug for hot drinks from the medium rack with protruding rods, then release.", + "Use the arm to grasp the medium mug fits in hand by edge contact point 0, lift the medium mug fits in hand, move toward the dark gray angled rack, hang the medium mug fits in hand on the dark gray angled rack, then release the medium mug fits in hand.", + "Grab the mug for hot drinks at edge contact point 0, lift it, bring it to the smooth rack, hang the mug for hot drinks on the smooth rack, then release the grip.", + "Move the arm toward the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift it, travel to the rack with angular body, place the mug with glossy texture onto the rack with angular body to hang, then release.", + "Grasp the ceramic mug with cartoons at edge contact point 0, lift the ceramic mug with cartoons from its spot, carry the ceramic mug with cartoons to the dark gray rack, hang the ceramic mug with cartoons on the dark gray rack, and release.", + "Go to the medium mug fits in hand, grasp the medium mug fits in hand by edge contact point 0, lift it clear, align it with the smooth rack, hang the medium mug fits in hand on the smooth rack, and let go.", + "Grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, move it over to the dark gray rack, hook the mug with yellow chicken image onto the dark gray rack, and release the mug with yellow chicken image.", + "Have the arm reach the mug with yellow chicken image, grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, move to the angled rack with long and short rods, hang the mug with yellow chicken image on the angled rack with long and short rods, then open the grip.", + "Take the ceramic mug with cartoons by edge contact point 0, lift it off the surface, move it to the metal rack, hang the ceramic mug with cartoons on the metal rack, and release your grip.", + "Approach the mug with prints, take hold of the mug with prints by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the mug with prints onto the rack with two rods sticking out, and let go.", + "Reach for the mug for hot drinks, grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks clear, place the mug for hot drinks onto the metallic angular rack with rod pair to hang, then release the mug for hot drinks.", + "With the arm, reach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the smooth ceramic mug on the angular rack with slanted support rod, then release the smooth ceramic mug.", + "Take the mug with prints by edge contact point 0, lift the mug with prints up, move the mug with prints in front of the metallic angular rack with rod pair, hang the mug with prints onto the metallic angular rack with rod pair, then release the mug with prints.", + "Bring the arm to the medium light mug, grasp the medium light mug by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the medium light mug on the metallic rack with smooth finish, then let go.", + "Hold the curved handle mug using edge contact point 0, lift the curved handle mug up, bring the curved handle mug to the metallic angular rack with rod pair, hang the curved handle mug on the metallic angular rack with rod pair, then release.", + "Move the arm toward the ceramic mug with cartoons, grasp the ceramic mug with cartoons at edge contact point 0, lift the ceramic mug with cartoons, carry the ceramic mug with cartoons to the smooth rack, hang the ceramic mug with cartoons on the smooth rack, release the ceramic mug with cartoons.", + "Use the arm to grab the mug with glossy texture by edge contact point 0, lift the mug with glossy texture, move over to the angled rack with long and short rods, hang the mug with glossy texture on the angled rack with long and short rods, and release the mug with glossy texture.", + "Direct the arm to grip the ceramic mug with cartoons at edge contact point 0, pick the ceramic mug with cartoons up, carry it to the rack with angular body, hang the ceramic mug with cartoons on the rack with angular body, and release.", + "Direct the arm to the ceramic mug with cartoons, grasp the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons clear, move to the smooth dark gray rack, hang the ceramic mug with cartoons on the smooth dark gray rack, release the grip.", + "Take the medium light mug by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the medium light mug onto the smooth dark gray rack so it hangs, then let go.", + "Grab the medium mug fits in hand at edge contact point 0, lift the medium mug fits in hand, move it to the metallic rack with smooth finish, hook the medium mug fits in hand onto the metallic rack with smooth finish, and release the medium mug fits in hand.", + "Using the arm, take the medium mug fits in hand at edge contact point 0, raise the medium mug fits in hand, move to the smooth dark gray rack, hook the medium mug fits in hand onto the smooth dark gray rack, and release the medium mug fits in hand.", + "Move the arm to the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift, carry to the smooth dark gray rack, hang the mug with glossy texture on the smooth dark gray rack, release the mug with glossy texture.", + "Grasp the curved handle mug by edge contact point 0, lift the curved handle mug, bring the curved handle mug to the metallic rack with smooth finish, set the curved handle mug onto the metallic rack with smooth finish to hang, and release the curved handle mug.", + "With the arm, grasp the colorful cartoon mug by edge contact point 0, lift and transport the colorful cartoon mug to the metallic angular rack with rod pair, hang the colorful cartoon mug on the metallic angular rack with rod pair, then let go.", + "Using the arm, secure the mug with yellow chicken image by edge contact point 0, lift, align the mug with yellow chicken image with the metallic angular rack with rod pair, hang the mug with yellow chicken image on the metallic angular rack with rod pair, and let go.", + "Guide the arm to the mug with yellow chicken image, grip the mug with yellow chicken image by edge contact point 0, pick it up, move to the smooth rack, hang the mug with yellow chicken image on the smooth rack, and release.", + "Grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture up, move the mug with glossy texture to the smooth rack, hang the mug with glossy texture on the smooth rack, and let go of the mug with glossy texture.", + "Pick up the medium mug fits in hand by edge contact point 0, move the medium mug fits in hand to the angular rack with slanted support rod, hang the medium mug fits in hand on the angular rack with slanted support rod, and release the medium mug fits in hand once it holds.", + "Grab the colorful cartoon mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the colorful cartoon mug onto the smooth rack, and release the colorful cartoon mug.", + "Grab the curved handle mug at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the curved handle mug onto the angled rack with long and short rods so it hangs, then release the curved handle mug.", + "Guide the arm to the mug for hot drinks, grip the mug for hot drinks at edge contact point 0, lift the mug for hot drinks, align the mug for hot drinks with the smooth rack, hang the mug for hot drinks on the smooth rack, release the mug for hot drinks.", + "With the arm, take hold of the smooth ceramic mug by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the smooth ceramic mug on the smooth dark gray rack, then release.", + "Send the arm to the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift it, carry the colorful cartoon mug to the rack with two rods sticking out, hang the colorful cartoon mug on the rack with two rods sticking out, and release the colorful cartoon mug.", + "Get to the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug, bring it to the rack with angular body, hang the colorful cartoon mug on the rack with angular body, and release.", + "With the arm, take the curved handle mug by edge contact point 0, lift the curved handle mug clear, move to the metal rack, hook the curved handle mug onto the metal rack, then open the grip.", + "Hold the curved handle mug at edge contact point 0, lift it up, move toward the smooth rack, place the curved handle mug onto the smooth rack to hang, then let go.", + "Take the mug for hot drinks by edge contact point 0, lift it from its spot, carry the mug for hot drinks to the angular rack with slanted support rod, hang the mug for hot drinks on the angular rack with slanted support rod, then release the mug for hot drinks.", + "With the arm, approach the curved handle mug, grasp the curved handle mug by edge contact point 0, lift the curved handle mug, bring it to the metal rack, hang the curved handle mug on the metal rack, then let go.", + "Reach the medium mug fits in hand, grasp the medium mug fits in hand by edge contact point 0, lift the medium mug fits in hand, carry the medium mug fits in hand to the metallic rack with smooth finish, hang the medium mug fits in hand on the metallic rack with smooth finish, then release the medium mug fits in hand.", + "Have the arm grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks, bring it to the metallic angular rack with rod pair, hang the mug for hot drinks from the metallic angular rack with rod pair, then release.", + "Use the arm to grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, move toward the rack with angular body, hang the mug with yellow chicken image on the rack with angular body, then release the mug with yellow chicken image.", + "Grab the smooth ceramic mug at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the smooth ceramic mug on the smooth dark gray rack, then release the grip.", + "Move the arm toward the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift it, travel to the smooth rack, place the mug with glossy texture onto the smooth rack to hang, then release.", + "Grasp the mug with cartoon design at edge contact point 0, lift the mug with cartoon design from its spot, carry the mug with cartoon design to the metallic angular rack with rod pair, hang the mug with cartoon design on the metallic angular rack with rod pair, and release.", + "Go to the curved handle mug, grasp the curved handle mug by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the curved handle mug on the metallic rack with smooth finish, and let go.", + "Grasp the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug, move it over to the dark gray rack, hook the colorful cartoon mug onto the dark gray rack, and release the colorful cartoon mug.", + "Have the arm reach the mug with prints, grasp the mug with prints by edge contact point 0, lift the mug with prints, move to the dark gray angled rack, hang the mug with prints on the dark gray angled rack, then open the grip.", + "Take the mug with yellow chicken image by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the mug with yellow chicken image on the dark gray rack, and release your grip.", + "Approach the mug with glossy texture, take hold of the mug with glossy texture by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the mug with glossy texture onto the angled rack with long and short rods, and let go.", + "Reach for the mug with yellow chicken image, grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image clear, place the mug with yellow chicken image onto the dark gray angled rack to hang, then release the mug with yellow chicken image.", + "With the arm, reach the medium mug fits in hand, grasp the medium mug fits in hand by edge contact point 0, lift, align it to the metal rack, hang the medium mug fits in hand on the metal rack, then release the medium mug fits in hand.", + "Take the mug with prints by edge contact point 0, lift the mug with prints up, move the mug with prints in front of the angled rack with long and short rods, hang the mug with prints onto the angled rack with long and short rods, then release the mug with prints.", + "Bring the arm to the ceramic mug with cartoons, grasp the ceramic mug with cartoons by edge contact point 0, lift it, move to the dark gray rack, hang the ceramic mug with cartoons on the dark gray rack, then let go.", + "Hold the ceramic mug with cartoons using edge contact point 0, lift the ceramic mug with cartoons up, bring the ceramic mug with cartoons to the angled rack with long and short rods, hang the ceramic mug with cartoons on the angled rack with long and short rods, then release.", + "Move the arm toward the mug for hot drinks, grasp the mug for hot drinks at edge contact point 0, lift the mug for hot drinks, carry the mug for hot drinks to the metal rack, hang the mug for hot drinks on the metal rack, release the mug for hot drinks.", + "Use the arm to grab the mug for hot drinks by edge contact point 0, lift the mug for hot drinks, move over to the dark gray rack, hang the mug for hot drinks on the dark gray rack, and release the mug for hot drinks.", + "Direct the arm to grip the medium light mug at edge contact point 0, pick the medium light mug up, carry it to the metallic angular rack with rod pair, hang the medium light mug on the metallic angular rack with rod pair, and release.", + "Direct the arm to the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug clear, move to the metal rack, hang the colorful cartoon mug on the metal rack, release the grip.", + "Take the mug with glossy texture by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the mug with glossy texture onto the metallic rack with smooth finish so it hangs, then let go.", + "Grab the mug with cartoon design at edge contact point 0, lift the mug with cartoon design, move it to the dark gray angled rack, hook the mug with cartoon design onto the dark gray angled rack, and release the mug with cartoon design.", + "Using the arm, take the mug with yellow chicken image at edge contact point 0, raise the mug with yellow chicken image, move to the metallic rack with smooth finish, hook the mug with yellow chicken image onto the metallic rack with smooth finish, and release the mug with yellow chicken image.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the beige mug on the rack with two rods sticking out, release the beige mug.", + "Grasp the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons, bring the ceramic mug with cartoons to the rack with two rods sticking out, set the ceramic mug with cartoons onto the rack with two rods sticking out to hang, and release the ceramic mug with cartoons.", + "With the arm, grasp the mug with glossy texture by edge contact point 0, lift and transport the mug with glossy texture to the angular rack with slanted support rod, hang the mug with glossy texture on the angular rack with slanted support rod, then let go.", + "Using the arm, secure the mug with cartoon design by edge contact point 0, lift, align the mug with cartoon design with the rack with angular body, hang the mug with cartoon design on the rack with angular body, and let go.", + "Guide the arm to the mug with cartoon design, grip the mug with cartoon design by edge contact point 0, pick it up, move to the dark gray rack, hang the mug with cartoon design on the dark gray rack, and release.", + "Grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks up, move the mug for hot drinks to the angled rack with long and short rods, hang the mug for hot drinks on the angled rack with long and short rods, and let go of the mug for hot drinks.", + "Pick up the medium mug fits in hand by edge contact point 0, move the medium mug fits in hand to the dark gray rack, hang the medium mug fits in hand on the dark gray rack, and release the medium mug fits in hand once it holds.", + "Grab the mug with glossy texture at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the mug with glossy texture onto the metallic angular rack with rod pair, and release the mug with glossy texture." + ], + "unseen": [ + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then release the cylindrical mug with handle.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and let go of the printed beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go of the cylindrical mug with handle.", + "Grasp the printed beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the printed beige mug on the medium-sized rack, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go of the printed beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release the cylindrical mug with handle.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go of the cylindrical mug with handle.", + "Grasp the printed beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release the cylindrical mug with handle.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the printed beige mug on the medium-sized rack, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and let go of the printed beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release the printed beige mug.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and let go of the printed beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release the printed beige mug.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release the printed beige mug.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and let go.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode16.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..2f19b99c4678a3fa885b5118d78dcfa51de6bcd0 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids up, move the black mug for liquids to the smooth dark gray rack, hang the black mug for liquids on the smooth dark gray rack, and let go of the black mug for liquids.", + "Move the arm toward the mug with thick sturdy handle, grasp the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, carry the mug with thick sturdy handle to the smooth rack, hang the mug with thick sturdy handle on the smooth rack, release the mug with thick sturdy handle.", + "Pick up the black mug for liquids by edge contact point 0, move the black mug for liquids to the medium rack with protruding rods, hang the black mug for liquids on the medium rack with protruding rods, and release the black mug for liquids once it holds.", + "Grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring the mug with thick sturdy handle to the medium rack with protruding rods, set the mug with thick sturdy handle onto the medium rack with protruding rods to hang, and release the mug with thick sturdy handle.", + "Grab the black mug at edge contact point 0, raise it, guide it to the rack with angular body, set the black mug onto the rack with angular body so it hangs, then release the black mug.", + "Have the arm grasp the black mug by edge contact point 0, lift the black mug, bring it to the smooth dark gray rack, hang the black mug from the smooth dark gray rack, then release.", + "Get to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, bring it to the smooth dark gray rack, hang the mug with rounded handle on the smooth dark gray rack, and release.", + "Grab the mug with rounded handle at edge contact point 0, lift it, bring it to the rack with angular body, hang the mug with rounded handle on the rack with angular body, then release the grip.", + "Take the mug with thick sturdy handle by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the mug with thick sturdy handle onto the angular rack with slanted support rod so it hangs, then let go.", + "Send the arm to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it, carry the mug with rounded handle to the smooth dark gray rack, hang the mug with rounded handle on the smooth dark gray rack, and release the mug with rounded handle.", + "Direct the arm to grip the hand-sized black mug at edge contact point 0, pick the hand-sized black mug up, carry it to the angled rack with long and short rods, hang the hand-sized black mug on the angled rack with long and short rods, and release.", + "Guide the arm to the smooth black ceramic mug, grip the smooth black ceramic mug at edge contact point 0, lift the smooth black ceramic mug, align the smooth black ceramic mug with the medium rack with protruding rods, hang the smooth black ceramic mug on the medium rack with protruding rods, release the smooth black ceramic mug.", + "Move the arm toward the black mug, grasp the black mug by edge contact point 0, lift it, travel to the rack with angular body, place the black mug onto the rack with angular body to hang, then release.", + "Take the black mug with handle by edge contact point 0, lift it from its spot, carry the black mug with handle to the rack with two rods sticking out, hang the black mug with handle on the rack with two rods sticking out, then release the black mug with handle.", + "Approach the mug with rounded handle, take hold of the mug with rounded handle by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the mug with rounded handle onto the angled rack with long and short rods, and let go.", + "Hold the black coffee mug using edge contact point 0, lift the black coffee mug up, bring the black coffee mug to the medium rack with protruding rods, hang the black coffee mug on the medium rack with protruding rods, then release.", + "Reach the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, carry the black mug for liquids to the angular rack with slanted support rod, hang the black mug for liquids on the angular rack with slanted support rod, then release the black mug for liquids.", + "With the arm, grasp the cylindrical black mug by edge contact point 0, lift and transport the cylindrical black mug to the dark gray rack, hang the cylindrical black mug on the dark gray rack, then let go.", + "Have the arm reach the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move to the dark gray angled rack, hang the smooth black ceramic mug on the dark gray angled rack, then open the grip.", + "Take the black mug by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the black mug on the medium rack with protruding rods, and release your grip.", + "Take the black mug with handle by edge contact point 0, lift the black mug with handle up, move the black mug with handle in front of the rack with two rods sticking out, hang the black mug with handle onto the rack with two rods sticking out, then release the black mug with handle.", + "Bring the arm to the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift it, move to the smooth rack, hang the mug with thick sturdy handle on the smooth rack, then let go.", + "Guide the arm to the solid black ceramic mug, grip the solid black ceramic mug by edge contact point 0, pick it up, move to the dark gray rack, hang the solid black ceramic mug on the dark gray rack, and release.", + "Grasp the black coffee mug at edge contact point 0, lift the black coffee mug from its spot, carry the black coffee mug to the metallic angular rack with rod pair, hang the black coffee mug on the metallic angular rack with rod pair, and release.", + "Direct the arm to the black coffee mug, grasp the black coffee mug by edge contact point 0, lift the black coffee mug clear, move to the metallic angular rack with rod pair, hang the black coffee mug on the metallic angular rack with rod pair, release the grip.", + "With the arm, approach the black coffee mug, grasp the black coffee mug by edge contact point 0, lift the black coffee mug, bring it to the smooth rack, hang the black coffee mug on the smooth rack, then let go.", + "Reach for the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, place the mug with rounded handle onto the metallic rack with smooth finish to hang, then release the mug with rounded handle.", + "Move the arm to the black mug, grasp the black mug by edge contact point 0, lift, carry to the metal rack, hang the black mug on the metal rack, release the black mug.", + "With the arm, take the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug clear, move to the angular rack with slanted support rod, hook the smooth black ceramic mug onto the angular rack with slanted support rod, then open the grip.", + "Use the arm to grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, move toward the smooth rack, hang the mug with thick sturdy handle on the smooth rack, then release the mug with thick sturdy handle.", + "Use the arm to grab the black mug for liquids by edge contact point 0, lift the black mug for liquids, move over to the rack with two rods sticking out, hang the black mug for liquids on the rack with two rods sticking out, and release the black mug for liquids.", + "Grab the black mug with smooth surface at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the black mug with smooth surface onto the angular rack with slanted support rod, and release the black mug with smooth surface.", + "With the arm, reach the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the hand-sized black mug on the angular rack with slanted support rod, then release the hand-sized black mug.", + "Hold the black mug for liquids at edge contact point 0, lift it up, move toward the dark gray rack, place the black mug for liquids onto the dark gray rack to hang, then let go.", + "Using the arm, secure the black mug with smooth surface by edge contact point 0, lift, align the black mug with smooth surface with the angular rack with slanted support rod, hang the black mug with smooth surface on the angular rack with slanted support rod, and let go.", + "Go to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it clear, align it with the rack with angular body, hang the mug with rounded handle on the rack with angular body, and let go.", + "With the arm, take hold of the drinking mug by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the drinking mug on the dark gray angled rack, then release.", + "Grab the smooth black ceramic mug at edge contact point 0, lift the smooth black ceramic mug, move it to the angular rack with slanted support rod, hook the smooth black ceramic mug onto the angular rack with slanted support rod, and release the smooth black ceramic mug.", + "Using the arm, take the black mug at edge contact point 0, raise the black mug, move to the rack with two rods sticking out, hook the black mug onto the rack with two rods sticking out, and release the black mug.", + "Grasp the black mug with handle by edge contact point 0, lift the black mug with handle, move it over to the smooth rack, hook the black mug with handle onto the smooth rack, and release the black mug with handle.", + "Grasp the drinking mug by edge contact point 0, lift the drinking mug up, move the drinking mug to the rack with two rods sticking out, hang the drinking mug on the rack with two rods sticking out, and let go of the drinking mug.", + "Move the arm toward the solid black ceramic mug, grasp the solid black ceramic mug at edge contact point 0, lift the solid black ceramic mug, carry the solid black ceramic mug to the dark gray angled rack, hang the solid black ceramic mug on the dark gray angled rack, release the solid black ceramic mug.", + "Pick up the black mug for liquids by edge contact point 0, move the black mug for liquids to the metallic rack with smooth finish, hang the black mug for liquids on the metallic rack with smooth finish, and release the black mug for liquids once it holds.", + "Grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, bring the cylindrical black mug to the dark gray rack, set the cylindrical black mug onto the dark gray rack to hang, and release the cylindrical black mug.", + "Grab the black coffee mug at edge contact point 0, raise it, guide it to the dark gray rack, set the black coffee mug onto the dark gray rack so it hangs, then release the black coffee mug.", + "Have the arm grasp the drinking mug by edge contact point 0, lift the drinking mug, bring it to the angular rack with slanted support rod, hang the drinking mug from the angular rack with slanted support rod, then release.", + "Get to the drinking mug, grasp the drinking mug by edge contact point 0, lift the drinking mug, bring it to the rack with angular body, hang the drinking mug on the rack with angular body, and release.", + "Grab the mug with rounded handle at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the mug with rounded handle on the metallic angular rack with rod pair, then release the grip.", + "Take the smooth black ceramic mug by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the smooth black ceramic mug onto the angular rack with slanted support rod so it hangs, then let go.", + "Send the arm to the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift it, carry the mug with thick sturdy handle to the smooth dark gray rack, hang the mug with thick sturdy handle on the smooth dark gray rack, and release the mug with thick sturdy handle.", + "Direct the arm to grip the mug with thick sturdy handle at edge contact point 0, pick the mug with thick sturdy handle up, carry it to the angular rack with slanted support rod, hang the mug with thick sturdy handle on the angular rack with slanted support rod, and release.", + "Guide the arm to the black mug with smooth surface, grip the black mug with smooth surface at edge contact point 0, lift the black mug with smooth surface, align the black mug with smooth surface with the metallic angular rack with rod pair, hang the black mug with smooth surface on the metallic angular rack with rod pair, release the black mug with smooth surface.", + "Move the arm toward the black coffee mug, grasp the black coffee mug by edge contact point 0, lift it, travel to the smooth rack, place the black coffee mug onto the smooth rack to hang, then release.", + "Take the black coffee mug by edge contact point 0, lift it from its spot, carry the black coffee mug to the smooth dark gray rack, hang the black coffee mug on the smooth dark gray rack, then release the black coffee mug.", + "Approach the black mug with handle, take hold of the black mug with handle by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the black mug with handle onto the rack with two rods sticking out, and let go.", + "Hold the hand-sized black mug using edge contact point 0, lift the hand-sized black mug up, bring the hand-sized black mug to the medium rack with protruding rods, hang the hand-sized black mug on the medium rack with protruding rods, then release.", + "Reach the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, carry the black mug with smooth surface to the dark gray angled rack, hang the black mug with smooth surface on the dark gray angled rack, then release the black mug with smooth surface.", + "With the arm, grasp the solid black ceramic mug by edge contact point 0, lift and transport the solid black ceramic mug to the rack with angular body, hang the solid black ceramic mug on the rack with angular body, then let go.", + "Have the arm reach the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, move to the rack with angular body, hang the black mug for liquids on the rack with angular body, then open the grip.", + "Take the mug with thick sturdy handle by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the mug with thick sturdy handle on the metallic rack with smooth finish, and release your grip.", + "Take the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug up, move the solid black ceramic mug in front of the smooth rack, hang the solid black ceramic mug onto the smooth rack, then release the solid black ceramic mug.", + "Bring the arm to the drinking mug, grasp the drinking mug by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the drinking mug on the medium rack with protruding rods, then let go.", + "Guide the arm to the black mug for liquids, grip the black mug for liquids by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the black mug for liquids on the rack with two rods sticking out, and release.", + "Grasp the black mug for liquids at edge contact point 0, lift the black mug for liquids from its spot, carry the black mug for liquids to the smooth rack, hang the black mug for liquids on the smooth rack, and release.", + "Direct the arm to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, move to the smooth rack, hang the mug with rounded handle on the smooth rack, release the grip.", + "With the arm, approach the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, bring it to the angled rack with long and short rods, hang the black mug with smooth surface on the angled rack with long and short rods, then let go.", + "Reach for the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, place the mug with rounded handle onto the angled rack with long and short rods to hang, then release the mug with rounded handle.", + "Move the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the cylindrical black mug on the metallic rack with smooth finish, release the cylindrical black mug.", + "With the arm, take the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, move to the medium rack with protruding rods, hook the mug with rounded handle onto the medium rack with protruding rods, then open the grip.", + "Use the arm to grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, move toward the rack with two rods sticking out, hang the cylindrical black mug on the rack with two rods sticking out, then release the cylindrical black mug.", + "Use the arm to grab the black mug for liquids by edge contact point 0, lift the black mug for liquids, move over to the angular rack with slanted support rod, hang the black mug for liquids on the angular rack with slanted support rod, and release the black mug for liquids.", + "Grab the black mug at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the black mug onto the dark gray angled rack, and release the black mug.", + "With the arm, reach the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the mug with rounded handle on the angled rack with long and short rods, then release the mug with rounded handle.", + "Hold the black mug with handle at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the black mug with handle onto the medium rack with protruding rods to hang, then let go.", + "Using the arm, secure the solid black ceramic mug by edge contact point 0, lift, align the solid black ceramic mug with the smooth rack, hang the solid black ceramic mug on the smooth rack, and let go.", + "Go to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the black mug with smooth surface on the smooth dark gray rack, and let go.", + "With the arm, take hold of the black mug by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the black mug on the medium rack with protruding rods, then release.", + "Grab the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, move it to the angled rack with long and short rods, hook the hand-sized black mug onto the angled rack with long and short rods, and release the hand-sized black mug.", + "Using the arm, take the mug with thick sturdy handle at edge contact point 0, raise the mug with thick sturdy handle, move to the metal rack, hook the mug with thick sturdy handle onto the metal rack, and release the mug with thick sturdy handle.", + "Grasp the black mug by edge contact point 0, lift the black mug, move it over to the metal rack, hook the black mug onto the metal rack, and release the black mug.", + "Grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle up, move the mug with rounded handle to the rack with two rods sticking out, hang the mug with rounded handle on the rack with two rods sticking out, and let go of the mug with rounded handle.", + "Move the arm toward the cylindrical black mug, grasp the cylindrical black mug at edge contact point 0, lift the cylindrical black mug, carry the cylindrical black mug to the dark gray angled rack, hang the cylindrical black mug on the dark gray angled rack, release the cylindrical black mug.", + "Pick up the solid black ceramic mug by edge contact point 0, move the solid black ceramic mug to the medium rack with protruding rods, hang the solid black ceramic mug on the medium rack with protruding rods, and release the solid black ceramic mug once it holds.", + "Grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug, bring the solid black ceramic mug to the rack with angular body, set the solid black ceramic mug onto the rack with angular body to hang, and release the solid black ceramic mug.", + "Grab the solid black ceramic mug at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the solid black ceramic mug onto the angular rack with slanted support rod so it hangs, then release the solid black ceramic mug.", + "Have the arm grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring it to the dark gray rack, hang the black mug for liquids from the dark gray rack, then release.", + "Get to the solid black ceramic mug, grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug, bring it to the dark gray rack, hang the solid black ceramic mug on the dark gray rack, and release.", + "Grab the drinking mug at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the drinking mug on the angled rack with long and short rods, then release the grip.", + "Take the black coffee mug by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the black coffee mug onto the rack with two rods sticking out so it hangs, then let go.", + "Send the arm to the black coffee mug, grasp the black coffee mug by edge contact point 0, lift it, carry the black coffee mug to the dark gray angled rack, hang the black coffee mug on the dark gray angled rack, and release the black coffee mug.", + "Direct the arm to grip the black coffee mug at edge contact point 0, pick the black coffee mug up, carry it to the medium rack with protruding rods, hang the black coffee mug on the medium rack with protruding rods, and release.", + "Guide the arm to the black mug with handle, grip the black mug with handle at edge contact point 0, lift the black mug with handle, align the black mug with handle with the rack with two rods sticking out, hang the black mug with handle on the rack with two rods sticking out, release the black mug with handle.", + "Move the arm toward the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the mug with thick sturdy handle onto the angular rack with slanted support rod to hang, then release.", + "Take the mug with thick sturdy handle by edge contact point 0, lift it from its spot, carry the mug with thick sturdy handle to the dark gray rack, hang the mug with thick sturdy handle on the dark gray rack, then release the mug with thick sturdy handle.", + "Approach the mug with rounded handle, take hold of the mug with rounded handle by edge contact point 0, raise it, bring it to the dark gray rack, hook the mug with rounded handle onto the dark gray rack, and let go.", + "Hold the black mug with smooth surface using edge contact point 0, lift the black mug with smooth surface up, bring the black mug with smooth surface to the dark gray angled rack, hang the black mug with smooth surface on the dark gray angled rack, then release.", + "Reach the black mug with handle, grasp the black mug with handle by edge contact point 0, lift the black mug with handle, carry the black mug with handle to the dark gray rack, hang the black mug with handle on the dark gray rack, then release the black mug with handle.", + "With the arm, grasp the solid black ceramic mug by edge contact point 0, lift and transport the solid black ceramic mug to the metal rack, hang the solid black ceramic mug on the metal rack, then let go.", + "Have the arm reach the black mug, grasp the black mug by edge contact point 0, lift the black mug, move to the rack with angular body, hang the black mug on the rack with angular body, then open the grip.", + "Take the black mug with smooth surface by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the black mug with smooth surface on the rack with two rods sticking out, and release your grip." + ], + "unseen": [ + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium black mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium black mug on the medium-sized rack, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then let go.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go of the medium black mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode17.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..9647e34ed75ddd9fd1355621297f880c163c8b67 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the beige mug used for drinks at edge contact point 0, lift it, bring it to the smooth rack, hang the beige mug used for drinks on the smooth rack, then release the grip.", + "Grab the smooth ceramic mug at edge contact point 0, raise it, guide it to the rack with angular body, set the smooth ceramic mug onto the rack with angular body so it hangs, then release the smooth ceramic mug.", + "Use the arm to grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side, move toward the rack with two rods sticking out, hang the mug with logo design on side on the rack with two rods sticking out, then release the mug with logo design on side.", + "Guide the arm to the mug with rounded base, grip the mug with rounded base at edge contact point 0, lift the mug with rounded base, align the mug with rounded base with the metal rack, hang the mug with rounded base on the metal rack, release the mug with rounded base.", + "Using the arm, take the smooth ceramic mug at edge contact point 0, raise the smooth ceramic mug, move to the rack with two rods sticking out, hook the smooth ceramic mug onto the rack with two rods sticking out, and release the smooth ceramic mug.", + "Pick up the ceramic mug with printed logo by edge contact point 0, move the ceramic mug with printed logo to the smooth dark gray rack, hang the ceramic mug with printed logo on the smooth dark gray rack, and release the ceramic mug with printed logo once it holds.", + "Get to the mug with side handle, grasp the mug with side handle by edge contact point 0, lift the mug with side handle, bring it to the metal rack, hang the mug with side handle on the metal rack, and release.", + "Move the arm toward the mug with round handle, grasp the mug with round handle by edge contact point 0, lift it, travel to the smooth dark gray rack, place the mug with round handle onto the smooth dark gray rack to hang, then release.", + "Guide the arm to the mug with glossy beige finish, grip the mug with glossy beige finish by edge contact point 0, pick it up, move to the dark gray angled rack, hang the mug with glossy beige finish on the dark gray angled rack, and release.", + "Direct the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side clear, move to the smooth dark gray rack, hang the mug with logo design on side on the smooth dark gray rack, release the grip.", + "Grab the beige mug used for drinks at edge contact point 0, lift the beige mug used for drinks, move it to the angled rack with long and short rods, hook the beige mug used for drinks onto the angled rack with long and short rods, and release the beige mug used for drinks.", + "Bring the arm to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the ceramic mug with printed logo on the rack with two rods sticking out, then let go.", + "Take the mug with glossy beige finish by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the mug with glossy beige finish on the dark gray rack, and release your grip.", + "Grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, move it over to the metallic rack with smooth finish, hook the mug with rounded base onto the metallic rack with smooth finish, and release the mug with rounded base.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks up, move the beige mug used for drinks to the metal rack, hang the beige mug used for drinks on the metal rack, and let go of the beige mug used for drinks.", + "With the arm, take the mug with side handle by edge contact point 0, lift the mug with side handle clear, move to the angular rack with slanted support rod, hook the mug with side handle onto the angular rack with slanted support rod, then open the grip.", + "Grab the beige mug used for drinks at edge contact point 0, pick it up, move it over to the rack with angular body, hang the beige mug used for drinks onto the rack with angular body, and release the beige mug used for drinks.", + "Have the arm grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the metal rack, hang the smooth ceramic mug from the metal rack, then release.", + "Use the arm to grab the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move over to the angled rack with long and short rods, hang the cylindrical beige ceramic mug on the angled rack with long and short rods, and release the cylindrical beige ceramic mug.", + "Take the mug with rounded base by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the mug with rounded base onto the medium rack with protruding rods so it hangs, then let go.", + "Reach for the mug with round handle, grasp the mug with round handle by edge contact point 0, lift the mug with round handle clear, place the mug with round handle onto the metallic rack with smooth finish to hang, then release the mug with round handle.", + "Take the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug up, move the cylindrical beige ceramic mug in front of the smooth rack, hang the cylindrical beige ceramic mug onto the smooth rack, then release the cylindrical beige ceramic mug.", + "Approach the mug with side handle, take hold of the mug with side handle by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the mug with side handle onto the metallic angular rack with rod pair, and let go.", + "Go to the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the mug with glossy beige finish on the smooth dark gray rack, and let go.", + "Hold the smooth ceramic mug at edge contact point 0, lift it up, move toward the metal rack, place the smooth ceramic mug onto the metal rack to hang, then let go.", + "Grasp the mug with glossy beige finish at edge contact point 0, lift the mug with glossy beige finish from its spot, carry the mug with glossy beige finish to the dark gray angled rack, hang the mug with glossy beige finish on the dark gray angled rack, and release.", + "With the arm, reach the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift, align it to the medium rack with protruding rods, hang the beige mug used for drinks on the medium rack with protruding rods, then release the beige mug used for drinks.", + "With the arm, take hold of the glossy beige ceramic drinking mug by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the glossy beige ceramic drinking mug on the dark gray angled rack, then release.", + "Hold the glossy beige ceramic drinking mug using edge contact point 0, lift the glossy beige ceramic drinking mug up, bring the glossy beige ceramic drinking mug to the metal rack, hang the glossy beige ceramic drinking mug on the metal rack, then release.", + "Have the arm reach the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, move to the smooth dark gray rack, hang the ceramic mug with printed logo on the smooth dark gray rack, then open the grip.", + "With the arm, approach the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring it to the angular rack with slanted support rod, hang the medium beige mug on the angular rack with slanted support rod, then let go.", + "Using the arm, secure the mug with round handle by edge contact point 0, lift, align the mug with round handle with the rack with two rods sticking out, hang the mug with round handle on the rack with two rods sticking out, and let go.", + "Move the arm to the mug with side handle, grasp the mug with side handle by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the mug with side handle on the rack with two rods sticking out, release the mug with side handle.", + "Take the smooth ceramic mug by edge contact point 0, lift it from its spot, carry the smooth ceramic mug to the metal rack, hang the smooth ceramic mug on the metal rack, then release the smooth ceramic mug.", + "Reach the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, carry the beige mug used for drinks to the metal rack, hang the beige mug used for drinks on the metal rack, then release the beige mug used for drinks.", + "With the arm, grasp the cylindrical coffee mug with handle by edge contact point 0, lift and transport the cylindrical coffee mug with handle to the metal rack, hang the cylindrical coffee mug with handle on the metal rack, then let go.", + "Grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, bring the mug with rounded base to the metallic rack with smooth finish, set the mug with rounded base onto the metallic rack with smooth finish to hang, and release the mug with rounded base.", + "Direct the arm to grip the medium beige mug at edge contact point 0, pick the medium beige mug up, carry it to the metallic rack with smooth finish, hang the medium beige mug on the metallic rack with smooth finish, and release.", + "Send the arm to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift it, carry the ceramic mug with printed logo to the angled rack with long and short rods, hang the ceramic mug with printed logo on the angled rack with long and short rods, and release the ceramic mug with printed logo.", + "Move the arm toward the mug with rounded base, grasp the mug with rounded base at edge contact point 0, lift the mug with rounded base, carry the mug with rounded base to the smooth dark gray rack, hang the mug with rounded base on the smooth dark gray rack, release the mug with rounded base.", + "Grab the mug with glossy beige finish at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the mug with glossy beige finish on the dark gray angled rack, then release the grip.", + "Grab the ceramic mug with printed logo at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the ceramic mug with printed logo onto the medium rack with protruding rods so it hangs, then release the ceramic mug with printed logo.", + "Use the arm to grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move toward the angular rack with slanted support rod, hang the cylindrical beige ceramic mug on the angular rack with slanted support rod, then release the cylindrical beige ceramic mug.", + "Guide the arm to the mug with logo design on side, grip the mug with logo design on side at edge contact point 0, lift the mug with logo design on side, align the mug with logo design on side with the angular rack with slanted support rod, hang the mug with logo design on side on the angular rack with slanted support rod, release the mug with logo design on side.", + "Using the arm, take the ceramic mug with printed logo at edge contact point 0, raise the ceramic mug with printed logo, move to the metallic rack with smooth finish, hook the ceramic mug with printed logo onto the metallic rack with smooth finish, and release the ceramic mug with printed logo.", + "Pick up the mug with round handle by edge contact point 0, move the mug with round handle to the smooth dark gray rack, hang the mug with round handle on the smooth dark gray rack, and release the mug with round handle once it holds.", + "Get to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, bring it to the rack with angular body, hang the ceramic mug with printed logo on the rack with angular body, and release.", + "Move the arm toward the mug with round handle, grasp the mug with round handle by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the mug with round handle onto the metallic rack with smooth finish to hang, then release.", + "Guide the arm to the mug with glossy beige finish, grip the mug with glossy beige finish by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the mug with glossy beige finish on the metallic angular rack with rod pair, and release.", + "Direct the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side clear, move to the medium rack with protruding rods, hang the mug with logo design on side on the medium rack with protruding rods, release the grip.", + "Grab the cylindrical beige ceramic mug at edge contact point 0, lift the cylindrical beige ceramic mug, move it to the smooth dark gray rack, hook the cylindrical beige ceramic mug onto the smooth dark gray rack, and release the cylindrical beige ceramic mug.", + "Bring the arm to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the cylindrical beige ceramic mug on the medium rack with protruding rods, then let go.", + "Take the medium beige mug by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the medium beige mug on the dark gray rack, and release your grip.", + "Grasp the medium beige mug by edge contact point 0, lift the medium beige mug, move it over to the rack with two rods sticking out, hook the medium beige mug onto the rack with two rods sticking out, and release the medium beige mug.", + "Grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug up, move the cylindrical beige ceramic mug to the angular rack with slanted support rod, hang the cylindrical beige ceramic mug on the angular rack with slanted support rod, and let go of the cylindrical beige ceramic mug.", + "With the arm, take the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo clear, move to the smooth dark gray rack, hook the ceramic mug with printed logo onto the smooth dark gray rack, then open the grip.", + "Grab the ceramic mug with printed logo at edge contact point 0, pick it up, move it over to the metal rack, hang the ceramic mug with printed logo onto the metal rack, and release the ceramic mug with printed logo.", + "Have the arm grasp the mug with round handle by edge contact point 0, lift the mug with round handle, bring it to the smooth rack, hang the mug with round handle from the smooth rack, then release.", + "Use the arm to grab the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, move over to the angled rack with long and short rods, hang the ceramic mug with printed logo on the angled rack with long and short rods, and release the ceramic mug with printed logo.", + "Take the mug with round handle by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the mug with round handle onto the dark gray angled rack so it hangs, then let go.", + "Reach for the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug clear, place the smooth ceramic mug onto the angled rack with long and short rods to hang, then release the smooth ceramic mug.", + "Take the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug up, move the cylindrical beige ceramic mug in front of the metallic angular rack with rod pair, hang the cylindrical beige ceramic mug onto the metallic angular rack with rod pair, then release the cylindrical beige ceramic mug.", + "Approach the medium beige mug, take hold of the medium beige mug by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the medium beige mug onto the medium rack with protruding rods, and let go.", + "Go to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the cylindrical beige ceramic mug on the smooth dark gray rack, and let go.", + "Hold the glossy beige ceramic drinking mug at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the glossy beige ceramic drinking mug onto the smooth dark gray rack to hang, then let go.", + "Grasp the mug with side handle at edge contact point 0, lift the mug with side handle from its spot, carry the mug with side handle to the metallic rack with smooth finish, hang the mug with side handle on the metallic rack with smooth finish, and release.", + "With the arm, reach the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift, align it to the smooth dark gray rack, hang the cylindrical beige ceramic mug on the smooth dark gray rack, then release the cylindrical beige ceramic mug.", + "With the arm, take hold of the mug with round handle by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the mug with round handle on the metallic rack with smooth finish, then release.", + "Hold the mug with rounded base using edge contact point 0, lift the mug with rounded base up, bring the mug with rounded base to the smooth dark gray rack, hang the mug with rounded base on the smooth dark gray rack, then release.", + "Have the arm reach the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, move to the angular rack with slanted support rod, hang the mug with glossy beige finish on the angular rack with slanted support rod, then open the grip.", + "With the arm, approach the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring it to the metal rack, hang the medium beige mug on the metal rack, then let go.", + "Using the arm, secure the smooth ceramic mug by edge contact point 0, lift, align the smooth ceramic mug with the angular rack with slanted support rod, hang the smooth ceramic mug on the angular rack with slanted support rod, and let go.", + "Move the arm to the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the mug with glossy beige finish on the angled rack with long and short rods, release the mug with glossy beige finish.", + "Take the mug with logo design on side by edge contact point 0, lift it from its spot, carry the mug with logo design on side to the dark gray angled rack, hang the mug with logo design on side on the dark gray angled rack, then release the mug with logo design on side.", + "Reach the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, carry the ceramic mug with printed logo to the dark gray angled rack, hang the ceramic mug with printed logo on the dark gray angled rack, then release the ceramic mug with printed logo.", + "With the arm, grasp the cylindrical beige ceramic mug by edge contact point 0, lift and transport the cylindrical beige ceramic mug to the dark gray angled rack, hang the cylindrical beige ceramic mug on the dark gray angled rack, then let go.", + "Grasp the mug with round handle by edge contact point 0, lift the mug with round handle, bring the mug with round handle to the angular rack with slanted support rod, set the mug with round handle onto the angular rack with slanted support rod to hang, and release the mug with round handle.", + "Direct the arm to grip the medium beige mug at edge contact point 0, pick the medium beige mug up, carry it to the metallic rack with smooth finish, hang the medium beige mug on the metallic rack with smooth finish, and release.", + "Send the arm to the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift it, carry the beige mug used for drinks to the dark gray rack, hang the beige mug used for drinks on the dark gray rack, and release the beige mug used for drinks.", + "Move the arm toward the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug at edge contact point 0, lift the glossy beige ceramic drinking mug, carry the glossy beige ceramic drinking mug to the metallic angular rack with rod pair, hang the glossy beige ceramic drinking mug on the metallic angular rack with rod pair, release the glossy beige ceramic drinking mug.", + "Grab the mug with side handle at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the mug with side handle on the smooth dark gray rack, then release the grip.", + "Grab the cylindrical coffee mug with handle at edge contact point 0, raise it, guide it to the dark gray rack, set the cylindrical coffee mug with handle onto the dark gray rack so it hangs, then release the cylindrical coffee mug with handle.", + "Use the arm to grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, move toward the angled rack with long and short rods, hang the ceramic mug with printed logo on the angled rack with long and short rods, then release the ceramic mug with printed logo.", + "Guide the arm to the smooth ceramic mug, grip the smooth ceramic mug at edge contact point 0, lift the smooth ceramic mug, align the smooth ceramic mug with the rack with angular body, hang the smooth ceramic mug on the rack with angular body, release the smooth ceramic mug.", + "Using the arm, take the mug with round handle at edge contact point 0, raise the mug with round handle, move to the metal rack, hook the mug with round handle onto the metal rack, and release the mug with round handle.", + "Pick up the beige mug used for drinks by edge contact point 0, move the beige mug used for drinks to the metallic rack with smooth finish, hang the beige mug used for drinks on the metallic rack with smooth finish, and release the beige mug used for drinks once it holds.", + "Get to the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, bring it to the angular rack with slanted support rod, hang the mug with glossy beige finish on the angular rack with slanted support rod, and release.", + "Move the arm toward the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift it, travel to the rack with angular body, place the mug with logo design on side onto the rack with angular body to hang, then release.", + "Guide the arm to the mug with round handle, grip the mug with round handle by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the mug with round handle on the medium rack with protruding rods, and release.", + "Direct the arm to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo clear, move to the rack with angular body, hang the ceramic mug with printed logo on the rack with angular body, release the grip.", + "Grab the mug with round handle at edge contact point 0, lift the mug with round handle, move it to the metal rack, hook the mug with round handle onto the metal rack, and release the mug with round handle.", + "Bring the arm to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift it, move to the smooth rack, hang the cylindrical beige ceramic mug on the smooth rack, then let go.", + "Take the mug with side handle by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the mug with side handle on the angled rack with long and short rods, and release your grip.", + "Grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move it over to the rack with two rods sticking out, hook the cylindrical beige ceramic mug onto the rack with two rods sticking out, and release the cylindrical beige ceramic mug.", + "Grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle up, move the cylindrical coffee mug with handle to the dark gray angled rack, hang the cylindrical coffee mug with handle on the dark gray angled rack, and let go of the cylindrical coffee mug with handle.", + "With the arm, take the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug clear, move to the rack with angular body, hook the smooth ceramic mug onto the rack with angular body, then open the grip.", + "Grab the smooth ceramic mug at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the smooth ceramic mug onto the smooth dark gray rack, and release the smooth ceramic mug.", + "Have the arm grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring it to the angled rack with long and short rods, hang the medium beige mug from the angled rack with long and short rods, then release.", + "Use the arm to grab the medium beige mug by edge contact point 0, lift the medium beige mug, move over to the angled rack with long and short rods, hang the medium beige mug on the angled rack with long and short rods, and release the medium beige mug.", + "Take the mug with glossy beige finish by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the mug with glossy beige finish onto the dark gray angled rack so it hangs, then let go." + ], + "unseen": [ + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode18.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..cab957d9defa1e24937a3c8b21570e2aaf27cfcd --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, move it to the rack with two rods sticking out, hook the glossy mug for beverages onto the rack with two rods sticking out, and release the glossy mug for beverages.", + "Grasp the ceramic mug at edge contact point 0, lift the ceramic mug from its spot, carry the ceramic mug to the dark gray rack, hang the ceramic mug on the dark gray rack, and release.", + "Take the basic mug in solid white by edge contact point 0, lift it from its spot, carry the basic mug in solid white to the dark gray angled rack, hang the basic mug in solid white on the dark gray angled rack, then release the basic mug in solid white.", + "Hold the cylindrical mug made of ceramic using edge contact point 0, lift the cylindrical mug made of ceramic up, bring the cylindrical mug made of ceramic to the rack with angular body, hang the cylindrical mug made of ceramic on the rack with angular body, then release.", + "Guide the arm to the cylindrical mug made of ceramic, grip the cylindrical mug made of ceramic at edge contact point 0, lift the cylindrical mug made of ceramic, align the cylindrical mug made of ceramic with the angular rack with slanted support rod, hang the cylindrical mug made of ceramic on the angular rack with slanted support rod, release the cylindrical mug made of ceramic.", + "With the arm, reach the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the smooth and plain drinking mug on the metallic rack with smooth finish, then release the smooth and plain drinking mug.", + "Move the arm toward the glossy mug for beverages, grasp the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, carry the glossy mug for beverages to the rack with two rods sticking out, hang the glossy mug for beverages on the rack with two rods sticking out, release the glossy mug for beverages.", + "Send the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release the ceramic mug.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the metal rack, hang the ceramic mug on the metal rack, and release your grip.", + "Move the arm toward the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the hand-sized ceramic mug onto the angled rack with long and short rods to hang, then release.", + "Go to the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift it clear, align it with the dark gray rack, hang the plain glossy mug on the dark gray rack, and let go.", + "Direct the arm to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle clear, move to the rack with two rods sticking out, hang the medium white mug with handle on the rack with two rods sticking out, release the grip.", + "Reach the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry the medium-sized white mug to the dark gray rack, hang the medium-sized white mug on the dark gray rack, then release the medium-sized white mug.", + "Grab the glossy mug for beverages at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the glossy mug for beverages on the metallic rack with smooth finish, then release the grip.", + "Grasp the white mug by edge contact point 0, lift the white mug, move it over to the metallic angular rack with rod pair, hook the white mug onto the metallic angular rack with rod pair, and release the white mug.", + "With the arm, take the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages clear, move to the rack with two rods sticking out, hook the glossy mug for beverages onto the rack with two rods sticking out, then open the grip.", + "Grab the white mug with rounded handle at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the white mug with rounded handle onto the rack with two rods sticking out, and release the white mug with rounded handle.", + "Grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug up, move the smooth and plain drinking mug to the rack with angular body, hang the smooth and plain drinking mug on the rack with angular body, and let go of the smooth and plain drinking mug.", + "Using the arm, secure the ceramic mug by edge contact point 0, lift, align the ceramic mug with the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and let go.", + "Direct the arm to grip the white mug at edge contact point 0, pick the white mug up, carry it to the smooth rack, hang the white mug on the smooth rack, and release.", + "Get to the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug, bring it to the medium rack with protruding rods, hang the plain glossy mug on the medium rack with protruding rods, and release.", + "With the arm, approach the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, bring it to the smooth dark gray rack, hang the hand-sized ceramic mug on the smooth dark gray rack, then let go.", + "Approach the glossy mug for beverages, take hold of the glossy mug for beverages by edge contact point 0, raise it, bring it to the metal rack, hook the glossy mug for beverages onto the metal rack, and let go.", + "Using the arm, take the smooth white mug with curved handle at edge contact point 0, raise the smooth white mug with curved handle, move to the metallic rack with smooth finish, hook the smooth white mug with curved handle onto the metallic rack with smooth finish, and release the smooth white mug with curved handle.", + "Have the arm reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, move to the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, then open the grip.", + "Bring the arm to the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift it, move to the dark gray angled rack, hang the cylindrical mug made of ceramic on the dark gray angled rack, then let go.", + "Use the arm to grasp the basic mug in solid white by edge contact point 0, lift the basic mug in solid white, move toward the metal rack, hang the basic mug in solid white on the metal rack, then release the basic mug in solid white.", + "With the arm, grasp the medium white mug with handle by edge contact point 0, lift and transport the medium white mug with handle to the medium rack with protruding rods, hang the medium white mug with handle on the medium rack with protruding rods, then let go.", + "With the arm, take hold of the cylindrical mug made of ceramic by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the cylindrical mug made of ceramic on the medium rack with protruding rods, then release.", + "Guide the arm to the medium white mug with handle, grip the medium white mug with handle by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the medium white mug with handle on the metallic angular rack with rod pair, and release.", + "Use the arm to grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, move over to the rack with angular body, hang the medium-sized white mug on the rack with angular body, and release the medium-sized white mug.", + "Grasp the white mug by edge contact point 0, lift the white mug, bring the white mug to the metallic angular rack with rod pair, set the white mug onto the metallic angular rack with rod pair to hang, and release the white mug.", + "Grab the medium-sized white mug at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the medium-sized white mug onto the angled rack with long and short rods so it hangs, then release the medium-sized white mug.", + "Reach for the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, place the ceramic mug onto the rack with two rods sticking out to hang, then release the ceramic mug.", + "Take the white mug by edge contact point 0, lift the white mug up, move the white mug in front of the metallic rack with smooth finish, hang the white mug onto the metallic rack with smooth finish, then release the white mug.", + "Have the arm grasp the white mug by edge contact point 0, lift the white mug, bring it to the dark gray angled rack, hang the white mug from the dark gray angled rack, then release.", + "Move the arm to the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the hand-sized ceramic mug on the angular rack with slanted support rod, release the hand-sized ceramic mug.", + "Pick up the hand-sized ceramic mug by edge contact point 0, move the hand-sized ceramic mug to the angled rack with long and short rods, hang the hand-sized ceramic mug on the angled rack with long and short rods, and release the hand-sized ceramic mug once it holds.", + "Take the cylindrical mug made of ceramic by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the cylindrical mug made of ceramic onto the dark gray angled rack so it hangs, then let go.", + "Hold the ceramic mug at edge contact point 0, lift it up, move toward the rack with angular body, place the ceramic mug onto the rack with angular body to hang, then let go.", + "Grab the medium white mug with handle at edge contact point 0, lift the medium white mug with handle, move it to the angular rack with slanted support rod, hook the medium white mug with handle onto the angular rack with slanted support rod, and release the medium white mug with handle.", + "Grasp the medium-sized white mug at edge contact point 0, lift the medium-sized white mug from its spot, carry the medium-sized white mug to the metallic angular rack with rod pair, hang the medium-sized white mug on the metallic angular rack with rod pair, and release.", + "Take the white mug with rounded handle by edge contact point 0, lift it from its spot, carry the white mug with rounded handle to the dark gray angled rack, hang the white mug with rounded handle on the dark gray angled rack, then release the white mug with rounded handle.", + "Hold the smooth white mug with curved handle using edge contact point 0, lift the smooth white mug with curved handle up, bring the smooth white mug with curved handle to the smooth dark gray rack, hang the smooth white mug with curved handle on the smooth dark gray rack, then release.", + "Guide the arm to the plain glossy mug, grip the plain glossy mug at edge contact point 0, lift the plain glossy mug, align the plain glossy mug with the dark gray rack, hang the plain glossy mug on the dark gray rack, release the plain glossy mug.", + "With the arm, reach the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the smooth and plain drinking mug on the rack with two rods sticking out, then release the smooth and plain drinking mug.", + "Move the arm toward the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic at edge contact point 0, lift the cylindrical mug made of ceramic, carry the cylindrical mug made of ceramic to the angled rack with long and short rods, hang the cylindrical mug made of ceramic on the angled rack with long and short rods, release the cylindrical mug made of ceramic.", + "Send the arm to the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift it, carry the plain glossy mug to the dark gray rack, hang the plain glossy mug on the dark gray rack, and release the plain glossy mug.", + "Take the basic mug in solid white by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the basic mug in solid white on the dark gray angled rack, and release your grip.", + "Move the arm toward the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the ceramic mug onto the medium rack with protruding rods to hang, then release.", + "Go to the basic mug in solid white, grasp the basic mug in solid white by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the basic mug in solid white on the angled rack with long and short rods, and let go.", + "Direct the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug clear, move to the smooth dark gray rack, hang the medium-sized white mug on the smooth dark gray rack, release the grip.", + "Reach the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry the medium-sized white mug to the angular rack with slanted support rod, hang the medium-sized white mug on the angular rack with slanted support rod, then release the medium-sized white mug.", + "Grab the smooth white mug with curved handle at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the smooth white mug with curved handle on the dark gray angled rack, then release the grip.", + "Grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, move it over to the smooth rack, hook the cylindrical mug made of ceramic onto the smooth rack, and release the cylindrical mug made of ceramic.", + "With the arm, take the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages clear, move to the dark gray angled rack, hook the glossy mug for beverages onto the dark gray angled rack, then open the grip.", + "Grab the hand-sized ceramic mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the hand-sized ceramic mug onto the rack with two rods sticking out, and release the hand-sized ceramic mug.", + "Grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug up, move the plain glossy mug to the metallic rack with smooth finish, hang the plain glossy mug on the metallic rack with smooth finish, and let go of the plain glossy mug.", + "Using the arm, secure the hand-sized ceramic mug by edge contact point 0, lift, align the hand-sized ceramic mug with the metallic rack with smooth finish, hang the hand-sized ceramic mug on the metallic rack with smooth finish, and let go.", + "Direct the arm to grip the cylindrical mug made of ceramic at edge contact point 0, pick the cylindrical mug made of ceramic up, carry it to the metallic angular rack with rod pair, hang the cylindrical mug made of ceramic on the metallic angular rack with rod pair, and release.", + "Get to the white mug, grasp the white mug by edge contact point 0, lift the white mug, bring it to the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, and release.", + "With the arm, approach the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, bring it to the metallic angular rack with rod pair, hang the white mug with rounded handle on the metallic angular rack with rod pair, then let go.", + "Approach the white mug with rounded handle, take hold of the white mug with rounded handle by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the white mug with rounded handle onto the dark gray angled rack, and let go.", + "Using the arm, take the medium-sized white mug at edge contact point 0, raise the medium-sized white mug, move to the rack with two rods sticking out, hook the medium-sized white mug onto the rack with two rods sticking out, and release the medium-sized white mug.", + "Have the arm reach the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, move to the angled rack with long and short rods, hang the medium-sized white mug on the angled rack with long and short rods, then open the grip.", + "Bring the arm to the white mug, grasp the white mug by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, then let go.", + "Use the arm to grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, move toward the metallic rack with smooth finish, hang the smooth white mug with curved handle on the metallic rack with smooth finish, then release the smooth white mug with curved handle.", + "With the arm, grasp the cylindrical mug made of ceramic by edge contact point 0, lift and transport the cylindrical mug made of ceramic to the metallic rack with smooth finish, hang the cylindrical mug made of ceramic on the metallic rack with smooth finish, then let go.", + "With the arm, take hold of the glossy mug for beverages by edge contact point 0, pick it up, bring it to the rack with angular body, hang the glossy mug for beverages on the rack with angular body, then release.", + "Guide the arm to the cylindrical mug made of ceramic, grip the cylindrical mug made of ceramic by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the cylindrical mug made of ceramic on the rack with two rods sticking out, and release.", + "Use the arm to grab the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, move over to the metallic angular rack with rod pair, hang the white mug with rounded handle on the metallic angular rack with rod pair, and release the white mug with rounded handle.", + "Grasp the white mug by edge contact point 0, lift the white mug, bring the white mug to the dark gray angled rack, set the white mug onto the dark gray angled rack to hang, and release the white mug.", + "Grab the basic mug in solid white at edge contact point 0, raise it, guide it to the dark gray rack, set the basic mug in solid white onto the dark gray rack so it hangs, then release the basic mug in solid white.", + "Reach for the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, place the ceramic mug onto the rack with angular body to hang, then release the ceramic mug.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the dark gray angled rack, hang the ceramic mug onto the dark gray angled rack, then release the ceramic mug.", + "Have the arm grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, bring it to the rack with angular body, hang the hand-sized ceramic mug from the rack with angular body, then release.", + "Move the arm to the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the cylindrical mug made of ceramic on the metallic rack with smooth finish, release the cylindrical mug made of ceramic.", + "Pick up the medium white mug with handle by edge contact point 0, move the medium white mug with handle to the metal rack, hang the medium white mug with handle on the metal rack, and release the medium white mug with handle once it holds.", + "Take the white mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the white mug onto the medium rack with protruding rods so it hangs, then let go.", + "Hold the white mug with rounded handle at edge contact point 0, lift it up, move toward the smooth rack, place the white mug with rounded handle onto the smooth rack to hang, then let go.", + "Grab the plain glossy mug at edge contact point 0, lift the plain glossy mug, move it to the dark gray rack, hook the plain glossy mug onto the dark gray rack, and release the plain glossy mug.", + "Grasp the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages from its spot, carry the glossy mug for beverages to the rack with two rods sticking out, hang the glossy mug for beverages on the rack with two rods sticking out, and release.", + "Take the smooth and plain drinking mug by edge contact point 0, lift it from its spot, carry the smooth and plain drinking mug to the smooth dark gray rack, hang the smooth and plain drinking mug on the smooth dark gray rack, then release the smooth and plain drinking mug.", + "Hold the cylindrical mug made of ceramic using edge contact point 0, lift the cylindrical mug made of ceramic up, bring the cylindrical mug made of ceramic to the rack with two rods sticking out, hang the cylindrical mug made of ceramic on the rack with two rods sticking out, then release.", + "Guide the arm to the smooth and plain drinking mug, grip the smooth and plain drinking mug at edge contact point 0, lift the smooth and plain drinking mug, align the smooth and plain drinking mug with the smooth dark gray rack, hang the smooth and plain drinking mug on the smooth dark gray rack, release the smooth and plain drinking mug.", + "With the arm, reach the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the smooth white mug with curved handle on the angled rack with long and short rods, then release the smooth white mug with curved handle.", + "Move the arm toward the glossy mug for beverages, grasp the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, carry the glossy mug for beverages to the metallic rack with smooth finish, hang the glossy mug for beverages on the metallic rack with smooth finish, release the glossy mug for beverages.", + "Send the arm to the white mug, grasp the white mug by edge contact point 0, lift it, carry the white mug to the dark gray angled rack, hang the white mug on the dark gray angled rack, and release the white mug.", + "Take the white mug by edge contact point 0, lift it off the surface, move it to the smooth rack, hang the white mug on the smooth rack, and release your grip.", + "Move the arm toward the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the plain glossy mug onto the angled rack with long and short rods to hang, then release.", + "Go to the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift it clear, align it with the rack with angular body, hang the smooth white mug with curved handle on the rack with angular body, and let go.", + "Direct the arm to the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages clear, move to the medium rack with protruding rods, hang the glossy mug for beverages on the medium rack with protruding rods, release the grip.", + "Reach the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, carry the smooth white mug with curved handle to the metallic angular rack with rod pair, hang the smooth white mug with curved handle on the metallic angular rack with rod pair, then release the smooth white mug with curved handle.", + "Grab the ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the ceramic mug on the smooth rack, then release the grip.", + "Grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug, move it over to the angled rack with long and short rods, hook the plain glossy mug onto the angled rack with long and short rods, and release the plain glossy mug.", + "With the arm, take the basic mug in solid white by edge contact point 0, lift the basic mug in solid white clear, move to the angled rack with long and short rods, hook the basic mug in solid white onto the angled rack with long and short rods, then open the grip.", + "Grab the smooth white mug with curved handle at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the smooth white mug with curved handle onto the medium rack with protruding rods, and release the smooth white mug with curved handle.", + "Grasp the white mug by edge contact point 0, lift the white mug up, move the white mug to the dark gray rack, hang the white mug on the dark gray rack, and let go of the white mug.", + "Using the arm, secure the plain glossy mug by edge contact point 0, lift, align the plain glossy mug with the dark gray rack, hang the plain glossy mug on the dark gray rack, and let go.", + "Direct the arm to grip the white mug at edge contact point 0, pick the white mug up, carry it to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, and release." + ], + "unseen": [ + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go of the white coffee mug.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release the simple white cylindrical mug.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release the medium mug for hot drinks.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release the medium mug for hot drinks.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go of the white coffee mug.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go of the medium mug for hot drinks.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release the medium mug for hot drinks.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release the medium mug for hot drinks.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go of the white coffee mug.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release the medium mug for hot drinks.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go of the white coffee mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go of the white coffee mug.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release the simple white cylindrical mug.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode19.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..d370a48327a4de4f1c287a7ef9ee885cfc6d36e1 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the arm toward the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the mug with curved black handle onto the angular rack with slanted support rod to hang, then release.", + "With the arm, approach the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, bring it to the rack with angular body, hang the mug with curved black handle on the rack with angular body, then let go.", + "Grab the cylindrical mug with black finish at edge contact point 0, lift it, bring it to the dark gray rack, hang the cylindrical mug with black finish on the dark gray rack, then release the grip.", + "Guide the arm to the mug with curved black handle, grip the mug with curved black handle by edge contact point 0, pick it up, move to the rack with angular body, hang the mug with curved black handle on the rack with angular body, and release.", + "Use the arm to grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move toward the metallic rack with smooth finish, hang the ceramic mug smooth outside on the metallic rack with smooth finish, then release the ceramic mug smooth outside.", + "Have the arm reach the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, move to the metallic rack with smooth finish, hang the black mug with rounded sturdy handle on the metallic rack with smooth finish, then open the grip.", + "Grab the black mug glossy ceramic material at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the black mug glossy ceramic material onto the metallic angular rack with rod pair so it hangs, then release the black mug glossy ceramic material.", + "Take the black mug with rounded sturdy handle by edge contact point 0, lift it from its spot, carry the black mug with rounded sturdy handle to the metal rack, hang the black mug with rounded sturdy handle on the metal rack, then release the black mug with rounded sturdy handle.", + "With the arm, grasp the black mug glossy ceramic material by edge contact point 0, lift and transport the black mug glossy ceramic material to the metallic rack with smooth finish, hang the black mug glossy ceramic material on the metallic rack with smooth finish, then let go.", + "Reach for the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking clear, place the glossy black mug medium-sized for drinking onto the metallic angular rack with rod pair to hang, then release the glossy black mug medium-sized for drinking.", + "Hold the black mug using edge contact point 0, lift the black mug up, bring the black mug to the smooth rack, hang the black mug on the smooth rack, then release.", + "Direct the arm to grip the black mug with rounded sturdy handle at edge contact point 0, pick the black mug with rounded sturdy handle up, carry it to the metallic rack with smooth finish, hang the black mug with rounded sturdy handle on the metallic rack with smooth finish, and release.", + "Take the black ceramic mug by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the black ceramic mug onto the angled rack with long and short rods so it hangs, then let go.", + "Using the arm, take the cylindrical mug with black finish at edge contact point 0, raise the cylindrical mug with black finish, move to the dark gray angled rack, hook the cylindrical mug with black finish onto the dark gray angled rack, and release the cylindrical mug with black finish.", + "Reach the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material, carry the black mug glossy ceramic material to the metallic rack with smooth finish, hang the black mug glossy ceramic material on the metallic rack with smooth finish, then release the black mug glossy ceramic material.", + "Go to the black mug, grasp the black mug by edge contact point 0, lift it clear, align it with the medium rack with protruding rods, hang the black mug on the medium rack with protruding rods, and let go.", + "Bring the arm to the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift it, move to the angled rack with long and short rods, hang the drinking mug shiny black exterior on the angled rack with long and short rods, then let go.", + "Get to the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, bring it to the angular rack with slanted support rod, hang the black mug with rounded sturdy handle on the angular rack with slanted support rod, and release.", + "Using the arm, secure the medium mug smooth rounded handle by edge contact point 0, lift, align the medium mug smooth rounded handle with the dark gray angled rack, hang the medium mug smooth rounded handle on the dark gray angled rack, and let go.", + "Use the arm to grab the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move over to the metallic angular rack with rod pair, hang the ceramic mug smooth outside on the metallic angular rack with rod pair, and release the ceramic mug smooth outside.", + "Direct the arm to the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug clear, move to the medium rack with protruding rods, hang the black ceramic mug on the medium rack with protruding rods, release the grip.", + "With the arm, reach the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the cylindrical mug with black finish on the metallic angular rack with rod pair, then release the cylindrical mug with black finish.", + "Move the arm to the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the drinking mug shiny black exterior on the angular rack with slanted support rod, release the drinking mug shiny black exterior.", + "Move the arm toward the medium black mug with handle, grasp the medium black mug with handle at edge contact point 0, lift the medium black mug with handle, carry the medium black mug with handle to the smooth rack, hang the medium black mug with handle on the smooth rack, release the medium black mug with handle.", + "Take the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle up, move the medium mug smooth rounded handle in front of the dark gray rack, hang the medium mug smooth rounded handle onto the dark gray rack, then release the medium mug smooth rounded handle.", + "Take the drinking mug shiny black exterior by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the drinking mug shiny black exterior on the angular rack with slanted support rod, and release your grip.", + "Grab the palm-sized mug glossy black body at edge contact point 0, lift the palm-sized mug glossy black body, move it to the angular rack with slanted support rod, hook the palm-sized mug glossy black body onto the angular rack with slanted support rod, and release the palm-sized mug glossy black body.", + "Have the arm grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, bring it to the medium rack with protruding rods, hang the glossy black mug medium-sized for drinking from the medium rack with protruding rods, then release.", + "Grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug, bring the black ceramic mug to the metallic angular rack with rod pair, set the black ceramic mug onto the metallic angular rack with rod pair to hang, and release the black ceramic mug.", + "With the arm, take the black mug by edge contact point 0, lift the black mug clear, move to the medium rack with protruding rods, hook the black mug onto the medium rack with protruding rods, then open the grip.", + "Hold the mug with curved black handle at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the mug with curved black handle onto the smooth dark gray rack to hang, then let go.", + "Grab the palm-sized mug glossy black body at edge contact point 0, pick it up, move it over to the dark gray rack, hang the palm-sized mug glossy black body onto the dark gray rack, and release the palm-sized mug glossy black body.", + "Grasp the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior, move it over to the metallic rack with smooth finish, hook the drinking mug shiny black exterior onto the metallic rack with smooth finish, and release the drinking mug shiny black exterior.", + "With the arm, take hold of the medium black mug with handle by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the medium black mug with handle on the metallic angular rack with rod pair, then release.", + "Grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle up, move the medium mug smooth rounded handle to the dark gray rack, hang the medium mug smooth rounded handle on the dark gray rack, and let go of the medium mug smooth rounded handle.", + "Approach the glossy black mug medium-sized for drinking, take hold of the glossy black mug medium-sized for drinking by edge contact point 0, raise it, bring it to the smooth rack, hook the glossy black mug medium-sized for drinking onto the smooth rack, and let go.", + "Grasp the ceramic mug smooth outside at edge contact point 0, lift the ceramic mug smooth outside from its spot, carry the ceramic mug smooth outside to the metallic rack with smooth finish, hang the ceramic mug smooth outside on the metallic rack with smooth finish, and release.", + "Guide the arm to the black ceramic mug, grip the black ceramic mug at edge contact point 0, lift the black ceramic mug, align the black ceramic mug with the metal rack, hang the black ceramic mug on the metal rack, release the black ceramic mug.", + "Send the arm to the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift it, carry the ceramic mug smooth outside to the dark gray angled rack, hang the ceramic mug smooth outside on the dark gray angled rack, and release the ceramic mug smooth outside.", + "Pick up the palm-sized mug glossy black body by edge contact point 0, move the palm-sized mug glossy black body to the metallic rack with smooth finish, hang the palm-sized mug glossy black body on the metallic rack with smooth finish, and release the palm-sized mug glossy black body once it holds.", + "Move the arm toward the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift it, travel to the metal rack, place the drinking mug shiny black exterior onto the metal rack to hang, then release.", + "With the arm, approach the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, bring it to the metallic angular rack with rod pair, hang the mug with curved black handle on the metallic angular rack with rod pair, then let go.", + "Grab the medium mug smooth rounded handle at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the medium mug smooth rounded handle on the rack with two rods sticking out, then release the grip.", + "Guide the arm to the medium black mug with handle, grip the medium black mug with handle by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the medium black mug with handle on the angled rack with long and short rods, and release.", + "Use the arm to grasp the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, move toward the metallic rack with smooth finish, hang the palm-sized mug glossy black body on the metallic rack with smooth finish, then release the palm-sized mug glossy black body.", + "Have the arm reach the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior, move to the angled rack with long and short rods, hang the drinking mug shiny black exterior on the angled rack with long and short rods, then open the grip.", + "Grab the black mug with rounded sturdy handle at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the black mug with rounded sturdy handle onto the metallic angular rack with rod pair so it hangs, then release the black mug with rounded sturdy handle.", + "Take the black ceramic mug by edge contact point 0, lift it from its spot, carry the black ceramic mug to the smooth dark gray rack, hang the black ceramic mug on the smooth dark gray rack, then release the black ceramic mug.", + "With the arm, grasp the cylindrical mug with black finish by edge contact point 0, lift and transport the cylindrical mug with black finish to the medium rack with protruding rods, hang the cylindrical mug with black finish on the medium rack with protruding rods, then let go.", + "Reach for the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking clear, place the glossy black mug medium-sized for drinking onto the dark gray angled rack to hang, then release the glossy black mug medium-sized for drinking.", + "Hold the cylindrical mug with black finish using edge contact point 0, lift the cylindrical mug with black finish up, bring the cylindrical mug with black finish to the metal rack, hang the cylindrical mug with black finish on the metal rack, then release.", + "Direct the arm to grip the black ceramic mug at edge contact point 0, pick the black ceramic mug up, carry it to the rack with two rods sticking out, hang the black ceramic mug on the rack with two rods sticking out, and release.", + "Take the black mug with rounded sturdy handle by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the black mug with rounded sturdy handle onto the metallic angular rack with rod pair so it hangs, then let go.", + "Using the arm, take the black mug with rounded sturdy handle at edge contact point 0, raise the black mug with rounded sturdy handle, move to the dark gray rack, hook the black mug with rounded sturdy handle onto the dark gray rack, and release the black mug with rounded sturdy handle.", + "Reach the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, carry the ceramic mug smooth outside to the dark gray rack, hang the ceramic mug smooth outside on the dark gray rack, then release the ceramic mug smooth outside.", + "Go to the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the cylindrical mug with black finish on the metallic rack with smooth finish, and let go.", + "Bring the arm to the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the drinking mug shiny black exterior on the metallic rack with smooth finish, then let go.", + "Get to the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, bring it to the dark gray angled rack, hang the glossy black mug medium-sized for drinking on the dark gray angled rack, and release.", + "Using the arm, secure the black ceramic mug by edge contact point 0, lift, align the black ceramic mug with the metallic angular rack with rod pair, hang the black ceramic mug on the metallic angular rack with rod pair, and let go.", + "Use the arm to grab the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move over to the angular rack with slanted support rod, hang the ceramic mug smooth outside on the angular rack with slanted support rod, and release the ceramic mug smooth outside.", + "Direct the arm to the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside clear, move to the medium rack with protruding rods, hang the ceramic mug smooth outside on the medium rack with protruding rods, release the grip.", + "With the arm, reach the black mug, grasp the black mug by edge contact point 0, lift, align it to the smooth rack, hang the black mug on the smooth rack, then release the black mug.", + "Move the arm to the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the black mug with rounded sturdy handle on the rack with two rods sticking out, release the black mug with rounded sturdy handle.", + "Move the arm toward the medium black mug with handle, grasp the medium black mug with handle at edge contact point 0, lift the medium black mug with handle, carry the medium black mug with handle to the dark gray rack, hang the medium black mug with handle on the dark gray rack, release the medium black mug with handle.", + "Take the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior up, move the drinking mug shiny black exterior in front of the medium rack with protruding rods, hang the drinking mug shiny black exterior onto the medium rack with protruding rods, then release the drinking mug shiny black exterior.", + "Take the mug with curved black handle by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the mug with curved black handle on the angular rack with slanted support rod, and release your grip.", + "Grab the ceramic mug smooth outside at edge contact point 0, lift the ceramic mug smooth outside, move it to the dark gray angled rack, hook the ceramic mug smooth outside onto the dark gray angled rack, and release the ceramic mug smooth outside.", + "Have the arm grasp the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, bring it to the metal rack, hang the palm-sized mug glossy black body from the metal rack, then release.", + "Grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, bring the cylindrical mug with black finish to the dark gray angled rack, set the cylindrical mug with black finish onto the dark gray angled rack to hang, and release the cylindrical mug with black finish.", + "With the arm, take the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior clear, move to the medium rack with protruding rods, hook the drinking mug shiny black exterior onto the medium rack with protruding rods, then open the grip.", + "Hold the black ceramic mug at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the black ceramic mug onto the rack with two rods sticking out to hang, then let go.", + "Grab the cylindrical mug with black finish at edge contact point 0, pick it up, move it over to the rack with angular body, hang the cylindrical mug with black finish onto the rack with angular body, and release the cylindrical mug with black finish.", + "Grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move it over to the metallic rack with smooth finish, hook the ceramic mug smooth outside onto the metallic rack with smooth finish, and release the ceramic mug smooth outside.", + "With the arm, take hold of the black mug with rounded sturdy handle by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the black mug with rounded sturdy handle on the metallic rack with smooth finish, then release.", + "Grasp the black mug by edge contact point 0, lift the black mug up, move the black mug to the metal rack, hang the black mug on the metal rack, and let go of the black mug.", + "Approach the black mug, take hold of the black mug by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the black mug onto the metallic rack with smooth finish, and let go.", + "Grasp the ceramic mug smooth outside at edge contact point 0, lift the ceramic mug smooth outside from its spot, carry the ceramic mug smooth outside to the smooth rack, hang the ceramic mug smooth outside on the smooth rack, and release.", + "Guide the arm to the drinking mug shiny black exterior, grip the drinking mug shiny black exterior at edge contact point 0, lift the drinking mug shiny black exterior, align the drinking mug shiny black exterior with the medium rack with protruding rods, hang the drinking mug shiny black exterior on the medium rack with protruding rods, release the drinking mug shiny black exterior.", + "Send the arm to the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift it, carry the medium mug smooth rounded handle to the smooth rack, hang the medium mug smooth rounded handle on the smooth rack, and release the medium mug smooth rounded handle.", + "Pick up the ceramic mug smooth outside by edge contact point 0, move the ceramic mug smooth outside to the smooth dark gray rack, hang the ceramic mug smooth outside on the smooth dark gray rack, and release the ceramic mug smooth outside once it holds.", + "Move the arm toward the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, travel to the rack with angular body, place the glossy black mug medium-sized for drinking onto the rack with angular body to hang, then release.", + "With the arm, approach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, bring it to the smooth dark gray rack, hang the medium mug smooth rounded handle on the smooth dark gray rack, then let go.", + "Grab the ceramic mug smooth outside at edge contact point 0, lift it, bring it to the smooth rack, hang the ceramic mug smooth outside on the smooth rack, then release the grip.", + "Guide the arm to the medium black mug with handle, grip the medium black mug with handle by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the medium black mug with handle on the metallic rack with smooth finish, and release.", + "Use the arm to grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, move toward the rack with angular body, hang the glossy black mug medium-sized for drinking on the rack with angular body, then release the glossy black mug medium-sized for drinking.", + "Have the arm reach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, move to the smooth rack, hang the medium mug smooth rounded handle on the smooth rack, then open the grip.", + "Grab the black mug at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the black mug onto the angular rack with slanted support rod so it hangs, then release the black mug.", + "Take the glossy black mug medium-sized for drinking by edge contact point 0, lift it from its spot, carry the glossy black mug medium-sized for drinking to the angled rack with long and short rods, hang the glossy black mug medium-sized for drinking on the angled rack with long and short rods, then release the glossy black mug medium-sized for drinking.", + "With the arm, grasp the ceramic mug smooth outside by edge contact point 0, lift and transport the ceramic mug smooth outside to the rack with angular body, hang the ceramic mug smooth outside on the rack with angular body, then let go.", + "Reach for the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift the medium black mug with handle clear, place the medium black mug with handle onto the angular rack with slanted support rod to hang, then release the medium black mug with handle.", + "Hold the medium mug smooth rounded handle using edge contact point 0, lift the medium mug smooth rounded handle up, bring the medium mug smooth rounded handle to the rack with two rods sticking out, hang the medium mug smooth rounded handle on the rack with two rods sticking out, then release.", + "Direct the arm to grip the ceramic mug smooth outside at edge contact point 0, pick the ceramic mug smooth outside up, carry it to the dark gray angled rack, hang the ceramic mug smooth outside on the dark gray angled rack, and release.", + "Take the black ceramic mug by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the black ceramic mug onto the smooth dark gray rack so it hangs, then let go.", + "Using the arm, take the palm-sized mug glossy black body at edge contact point 0, raise the palm-sized mug glossy black body, move to the angular rack with slanted support rod, hook the palm-sized mug glossy black body onto the angular rack with slanted support rod, and release the palm-sized mug glossy black body.", + "Reach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, carry the medium mug smooth rounded handle to the angled rack with long and short rods, hang the medium mug smooth rounded handle on the angled rack with long and short rods, then release the medium mug smooth rounded handle.", + "Go to the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift it clear, align it with the medium rack with protruding rods, hang the mug with curved black handle on the medium rack with protruding rods, and let go.", + "Bring the arm to the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift it, move to the rack with angular body, hang the mug with curved black handle on the rack with angular body, then let go.", + "Get to the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug, bring it to the rack with angular body, hang the black ceramic mug on the rack with angular body, and release.", + "Using the arm, secure the medium mug smooth rounded handle by edge contact point 0, lift, align the medium mug smooth rounded handle with the rack with two rods sticking out, hang the medium mug smooth rounded handle on the rack with two rods sticking out, and let go.", + "Use the arm to grab the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, move over to the dark gray angled rack, hang the palm-sized mug glossy black body on the dark gray angled rack, and release the palm-sized mug glossy black body." + ], + "unseen": [ + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go of the rounded mug with glossy shine.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release the mug for liquids black ceramic body.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go of the rounded mug with glossy shine.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release the cylindrical drinking mug black color.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release the mug for liquids black ceramic body.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release the mug for liquids black ceramic body.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go of the rounded mug with glossy shine.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release the rounded mug with glossy shine.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release the rounded mug with glossy shine.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release the cylindrical drinking mug black color.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go of the cylindrical drinking mug black color.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go of the mug for liquids black ceramic body.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go of the rounded mug with glossy shine.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release the mug for liquids black ceramic body.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode2.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..e0fe9b94d06703690f4b2277e9a327b458ac481b --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Approach the white ceramic mug with handle, take hold of the white ceramic mug with handle by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the white ceramic mug with handle onto the angled rack with long and short rods, and let go.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, align the hand-sized mug with blue artwork with the angular rack with slanted support rod, hang the hand-sized mug with blue artwork on the angular rack with slanted support rod, release the hand-sized mug with blue artwork.", + "Hold the white ceramic mug with handle at edge contact point 0, lift it up, move toward the metal rack, place the white ceramic mug with handle onto the metal rack to hang, then let go.", + "Use the arm to grasp the mug with blue print by edge contact point 0, lift the mug with blue print, move toward the angled rack with long and short rods, hang the mug with blue print on the angled rack with long and short rods, then release the mug with blue print.", + "With the arm, reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift, align it to the smooth rack, hang the smooth white mug on the smooth rack, then release the smooth white mug.", + "Grab the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids, move it to the dark gray rack, hook the mug for drinking liquids onto the dark gray rack, and release the mug for drinking liquids.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork up, move the hand-sized mug with blue artwork in front of the smooth rack, hang the hand-sized mug with blue artwork onto the smooth rack, then release the hand-sized mug with blue artwork.", + "Have the arm reach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move to the angled rack with long and short rods, hang the mug for drinking liquids on the angled rack with long and short rods, then open the grip.", + "Take the white ceramic mug with handle by edge contact point 0, lift it, bring it over to the dark gray rack, place the white ceramic mug with handle onto the dark gray rack so it hangs, then let go.", + "Reach for the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug clear, place the smooth white mug onto the angled rack with long and short rods to hang, then release the smooth white mug.", + "Grab the hand-sized mug with blue artwork at edge contact point 0, lift it, bring it to the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, then release the grip.", + "Direct the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the smooth dark gray rack, hang the mug with blue print on the smooth dark gray rack, release the grip.", + "Move the arm toward the white mug, grasp the white mug by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the white mug onto the metallic angular rack with rod pair to hang, then release.", + "Grasp the white mug by edge contact point 0, lift the white mug, bring the white mug to the angular rack with slanted support rod, set the white mug onto the angular rack with slanted support rod to hang, and release the white mug.", + "Have the arm grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the rack with two rods sticking out, hang the white mug with glossy finish from the rack with two rods sticking out, then release.", + "With the arm, approach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, then let go.", + "Guide the arm to the medium mug with blue design, grip the medium mug with blue design by edge contact point 0, pick it up, move to the rack with angular body, hang the medium mug with blue design on the rack with angular body, and release.", + "Using the arm, secure the medium mug with blue design by edge contact point 0, lift, align the medium mug with blue design with the rack with two rods sticking out, hang the medium mug with blue design on the rack with two rods sticking out, and let go.", + "Grab the white mug with glossy finish at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the white mug with glossy finish onto the rack with two rods sticking out, and release the white mug with glossy finish.", + "Bring the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the hand-sized mug with blue artwork on the angular rack with slanted support rod, then let go.", + "Move the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the hand-sized mug with blue artwork on the metallic angular rack with rod pair, release the hand-sized mug with blue artwork.", + "Direct the arm to grip the white ceramic mug with handle at edge contact point 0, pick the white ceramic mug with handle up, carry it to the angular rack with slanted support rod, hang the white ceramic mug with handle on the angular rack with slanted support rod, and release.", + "Send the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry the ceramic mug to the dark gray rack, hang the ceramic mug on the dark gray rack, and release the ceramic mug.", + "Move the arm toward the mug with blue print, grasp the mug with blue print at edge contact point 0, lift the mug with blue print, carry the mug with blue print to the rack with angular body, hang the mug with blue print on the rack with angular body, release the mug with blue print.", + "Get to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the rack with two rods sticking out, hang the white mug with glossy finish on the rack with two rods sticking out, and release.", + "Pick up the white ceramic mug with handle by edge contact point 0, move the white ceramic mug with handle to the smooth dark gray rack, hang the white ceramic mug with handle on the smooth dark gray rack, and release the white ceramic mug with handle once it holds.", + "Grasp the white mug by edge contact point 0, lift the white mug, move it over to the angular rack with slanted support rod, hook the white mug onto the angular rack with slanted support rod, and release the white mug.", + "Hold the hand-sized mug with blue artwork using edge contact point 0, lift the hand-sized mug with blue artwork up, bring the hand-sized mug with blue artwork to the metal rack, hang the hand-sized mug with blue artwork on the metal rack, then release.", + "Grasp the smooth white mug at edge contact point 0, lift the smooth white mug from its spot, carry the smooth white mug to the metal rack, hang the smooth white mug on the metal rack, and release.", + "Use the arm to grab the smooth white mug by edge contact point 0, lift the smooth white mug, move over to the smooth rack, hang the smooth white mug on the smooth rack, and release the smooth white mug.", + "With the arm, take hold of the white ceramic mug with handle by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the white ceramic mug with handle on the smooth dark gray rack, then release.", + "Go to the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the white ceramic mug with handle on the angled rack with long and short rods, and let go.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it off the surface, move it to the smooth rack, hang the white drinking mug with smooth surface on the smooth rack, and release your grip.", + "Take the smooth white mug by edge contact point 0, lift it from its spot, carry the smooth white mug to the metallic rack with smooth finish, hang the smooth white mug on the metallic rack with smooth finish, then release the smooth white mug.", + "Reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, carry the white mug to the metal rack, hang the white mug on the metal rack, then release the white mug.", + "With the arm, take the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the dark gray rack, hook the medium mug with blue design onto the dark gray rack, then open the grip.", + "Grab the medium mug with blue design at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the medium mug with blue design onto the metallic angular rack with rod pair so it hangs, then release the medium mug with blue design.", + "Grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle up, move the white ceramic mug with handle to the smooth rack, hang the white ceramic mug with handle on the smooth rack, and let go of the white ceramic mug with handle.", + "Using the arm, take the white drinking mug with smooth surface at edge contact point 0, raise the white drinking mug with smooth surface, move to the angled rack with long and short rods, hook the white drinking mug with smooth surface onto the angled rack with long and short rods, and release the white drinking mug with smooth surface.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the rack with two rods sticking out, hang the white drinking mug with smooth surface on the rack with two rods sticking out, then let go.", + "Approach the medium mug with blue design, take hold of the medium mug with blue design by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the medium mug with blue design onto the metallic angular rack with rod pair, and let go.", + "Guide the arm to the ceramic mug, grip the ceramic mug at edge contact point 0, lift the ceramic mug, align the ceramic mug with the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, release the ceramic mug.", + "Hold the white drinking mug with smooth surface at edge contact point 0, lift it up, move toward the dark gray rack, place the white drinking mug with smooth surface onto the dark gray rack to hang, then let go.", + "Use the arm to grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move toward the dark gray angled rack, hang the hand-sized mug with blue artwork on the dark gray angled rack, then release the hand-sized mug with blue artwork.", + "With the arm, reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, then release the ceramic mug.", + "Grab the ceramic mug at edge contact point 0, lift the ceramic mug, move it to the metallic angular rack with rod pair, hook the ceramic mug onto the metallic angular rack with rod pair, and release the ceramic mug.", + "Take the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug up, move the printed white ceramic mug in front of the rack with angular body, hang the printed white ceramic mug onto the rack with angular body, then release the printed white ceramic mug.", + "Have the arm reach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move to the metal rack, hang the mug for drinking liquids on the metal rack, then open the grip.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it, bring it over to the dark gray rack, place the white drinking mug with smooth surface onto the dark gray rack so it hangs, then let go.", + "Reach for the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, place the cylindrical mug with curved handle onto the angular rack with slanted support rod to hang, then release the cylindrical mug with curved handle.", + "Grab the mug for drinking liquids at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the mug for drinking liquids on the dark gray angled rack, then release the grip.", + "Direct the arm to the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle clear, move to the dark gray angled rack, hang the white ceramic mug with handle on the dark gray angled rack, release the grip.", + "Move the arm toward the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, travel to the metal rack, place the printed white ceramic mug onto the metal rack to hang, then release.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring the medium mug with blue design to the metal rack, set the medium mug with blue design onto the metal rack to hang, and release the medium mug with blue design.", + "Have the arm grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the rack with angular body, hang the white drinking mug with smooth surface from the rack with angular body, then release.", + "With the arm, approach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, bring it to the rack with two rods sticking out, hang the mug for drinking liquids on the rack with two rods sticking out, then let go.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the hand-sized mug with blue artwork on the smooth dark gray rack, and release.", + "Using the arm, secure the white ceramic mug with handle by edge contact point 0, lift, align the white ceramic mug with handle with the dark gray rack, hang the white ceramic mug with handle on the dark gray rack, and let go.", + "Grab the mug with blue print at edge contact point 0, pick it up, move it over to the angled rack with long and short rods, hang the mug with blue print onto the angled rack with long and short rods, and release the mug with blue print.", + "Bring the arm to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the cylindrical mug with curved handle on the medium rack with protruding rods, then let go.", + "Move the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift, carry to the dark gray angled rack, hang the mug with blue print on the dark gray angled rack, release the mug with blue print.", + "Direct the arm to grip the white mug with glossy finish at edge contact point 0, pick the white mug with glossy finish up, carry it to the metallic rack with smooth finish, hang the white mug with glossy finish on the metallic rack with smooth finish, and release.", + "Send the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, carry the medium mug with blue design to the rack with angular body, hang the medium mug with blue design on the rack with angular body, and release the medium mug with blue design.", + "Move the arm toward the smooth white mug, grasp the smooth white mug at edge contact point 0, lift the smooth white mug, carry the smooth white mug to the metallic rack with smooth finish, hang the smooth white mug on the metallic rack with smooth finish, release the smooth white mug.", + "Get to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the dark gray rack, hang the white drinking mug with smooth surface on the dark gray rack, and release.", + "Pick up the white drinking mug with smooth surface by edge contact point 0, move the white drinking mug with smooth surface to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, and release the white drinking mug with smooth surface once it holds.", + "Grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, move it over to the angled rack with long and short rods, hook the printed white ceramic mug onto the angled rack with long and short rods, and release the printed white ceramic mug.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, then release.", + "Grasp the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids from its spot, carry the mug for drinking liquids to the rack with angular body, hang the mug for drinking liquids on the rack with angular body, and release.", + "Use the arm to grab the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move over to the smooth rack, hang the cylindrical mug with curved handle on the smooth rack, and release the cylindrical mug with curved handle.", + "With the arm, take hold of the mug with blue print by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, then release.", + "Go to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift it clear, align it with the rack with angular body, hang the white drinking mug with smooth surface on the rack with angular body, and let go.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and release your grip.", + "Take the printed white ceramic mug by edge contact point 0, lift it from its spot, carry the printed white ceramic mug to the dark gray angled rack, hang the printed white ceramic mug on the dark gray angled rack, then release the printed white ceramic mug.", + "Reach the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, carry the printed white ceramic mug to the dark gray angled rack, hang the printed white ceramic mug on the dark gray angled rack, then release the printed white ceramic mug.", + "With the arm, take the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids clear, move to the smooth dark gray rack, hook the mug for drinking liquids onto the smooth dark gray rack, then open the grip.", + "Grab the printed white ceramic mug at edge contact point 0, raise it, guide it to the metallic rack with smooth finish, set the printed white ceramic mug onto the metallic rack with smooth finish so it hangs, then release the printed white ceramic mug.", + "Grasp the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, and let go of the smooth white mug.", + "Using the arm, take the medium mug with blue design at edge contact point 0, raise the medium mug with blue design, move to the metallic angular rack with rod pair, hook the medium mug with blue design onto the metallic angular rack with rod pair, and release the medium mug with blue design.", + "With the arm, grasp the mug for drinking liquids by edge contact point 0, lift and transport the mug for drinking liquids to the dark gray angled rack, hang the mug for drinking liquids on the dark gray angled rack, then let go.", + "Approach the ceramic mug, take hold of the ceramic mug by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the ceramic mug onto the rack with two rods sticking out, and let go.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, align the hand-sized mug with blue artwork with the smooth rack, hang the hand-sized mug with blue artwork on the smooth rack, release the hand-sized mug with blue artwork.", + "Hold the printed white ceramic mug at edge contact point 0, lift it up, move toward the dark gray angled rack, place the printed white ceramic mug onto the dark gray angled rack to hang, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move toward the dark gray rack, hang the ceramic mug on the dark gray rack, then release the ceramic mug.", + "With the arm, reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift, align it to the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, then release the hand-sized mug with blue artwork.", + "Grab the white mug at edge contact point 0, lift the white mug, move it to the medium rack with protruding rods, hook the white mug onto the medium rack with protruding rods, and release the white mug.", + "Take the mug with blue print by edge contact point 0, lift the mug with blue print up, move the mug with blue print in front of the smooth dark gray rack, hang the mug with blue print onto the smooth dark gray rack, then release the mug with blue print.", + "Have the arm reach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move to the medium rack with protruding rods, hang the white drinking mug with smooth surface on the medium rack with protruding rods, then open the grip.", + "Take the medium mug with blue design by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the medium mug with blue design onto the smooth dark gray rack so it hangs, then let go.", + "Reach for the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, place the ceramic mug onto the metal rack to hang, then release the ceramic mug.", + "Grab the ceramic mug at edge contact point 0, lift it, bring it to the rack with angular body, hang the ceramic mug on the rack with angular body, then release the grip.", + "Direct the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the metal rack, hang the medium mug with blue design on the metal rack, release the grip.", + "Move the arm toward the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the mug with blue print onto the rack with two rods sticking out to hang, then release.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring the medium mug with blue design to the smooth rack, set the medium mug with blue design onto the smooth rack to hang, and release the medium mug with blue design.", + "Have the arm grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the metallic angular rack with rod pair, hang the medium mug with blue design from the metallic angular rack with rod pair, then release.", + "With the arm, approach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the metal rack, hang the white drinking mug with smooth surface on the metal rack, then let go.", + "Guide the arm to the white mug with glossy finish, grip the white mug with glossy finish by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the white mug with glossy finish on the smooth dark gray rack, and release.", + "Using the arm, secure the mug for drinking liquids by edge contact point 0, lift, align the mug for drinking liquids with the metallic rack with smooth finish, hang the mug for drinking liquids on the metallic rack with smooth finish, and let go.", + "Grab the white ceramic mug with handle at edge contact point 0, pick it up, move it over to the dark gray rack, hang the white ceramic mug with handle onto the dark gray rack, and release the white ceramic mug with handle.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, then let go." + ], + "unseen": [ + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode20.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..d33d0b4884529c7c201106d8396b9a5cf0baad95 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Direct the arm to grip the mug with logo design on side at edge contact point 0, pick the mug with logo design on side up, carry it to the metallic rack with smooth finish, hang the mug with logo design on side on the metallic rack with smooth finish, and release.", + "Guide the arm to the mug with logo design on side, grip the mug with logo design on side at edge contact point 0, lift the mug with logo design on side, align the mug with logo design on side with the dark gray angled rack, hang the mug with logo design on side on the dark gray angled rack, release the mug with logo design on side.", + "With the arm, approach the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, bring it to the smooth dark gray rack, hang the mug with rounded base on the smooth dark gray rack, then let go.", + "Guide the arm to the beige mug used for drinks, grip the beige mug used for drinks by edge contact point 0, pick it up, move to the dark gray angled rack, hang the beige mug used for drinks on the dark gray angled rack, and release.", + "Take the glossy beige ceramic drinking mug by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the glossy beige ceramic drinking mug on the rack with two rods sticking out, and release your grip.", + "Using the arm, take the mug with round handle at edge contact point 0, raise the mug with round handle, move to the rack with angular body, hook the mug with round handle onto the rack with angular body, and release the mug with round handle.", + "With the arm, take hold of the mug with logo design on side by edge contact point 0, pick it up, bring it to the angular rack with slanted support rod, hang the mug with logo design on side on the angular rack with slanted support rod, then release.", + "Have the arm grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring it to the rack with two rods sticking out, hang the medium beige mug from the rack with two rods sticking out, then release.", + "Take the glossy beige ceramic drinking mug by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the glossy beige ceramic drinking mug onto the rack with two rods sticking out so it hangs, then let go.", + "Have the arm reach the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move to the angled rack with long and short rods, hang the cylindrical beige ceramic mug on the angled rack with long and short rods, then open the grip.", + "Move the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift, carry to the dark gray rack, hang the mug with logo design on side on the dark gray rack, release the mug with logo design on side.", + "Pick up the smooth ceramic mug by edge contact point 0, move the smooth ceramic mug to the angular rack with slanted support rod, hang the smooth ceramic mug on the angular rack with slanted support rod, and release the smooth ceramic mug once it holds.", + "Send the arm to the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift it, carry the cylindrical coffee mug with handle to the angled rack with long and short rods, hang the cylindrical coffee mug with handle on the angled rack with long and short rods, and release the cylindrical coffee mug with handle.", + "Use the arm to grab the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move over to the dark gray angled rack, hang the cylindrical beige ceramic mug on the dark gray angled rack, and release the cylindrical beige ceramic mug.", + "Hold the mug with side handle using edge contact point 0, lift the mug with side handle up, bring the mug with side handle to the angled rack with long and short rods, hang the mug with side handle on the angled rack with long and short rods, then release.", + "Move the arm toward the beige mug used for drinks, grasp the beige mug used for drinks at edge contact point 0, lift the beige mug used for drinks, carry the beige mug used for drinks to the dark gray angled rack, hang the beige mug used for drinks on the dark gray angled rack, release the beige mug used for drinks.", + "Bring the arm to the mug with round handle, grasp the mug with round handle by edge contact point 0, lift it, move to the smooth dark gray rack, hang the mug with round handle on the smooth dark gray rack, then let go.", + "Take the cylindrical coffee mug with handle by edge contact point 0, lift it from its spot, carry the cylindrical coffee mug with handle to the dark gray rack, hang the cylindrical coffee mug with handle on the dark gray rack, then release the cylindrical coffee mug with handle.", + "Go to the mug with round handle, grasp the mug with round handle by edge contact point 0, lift it clear, align it with the smooth rack, hang the mug with round handle on the smooth rack, and let go.", + "Grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, bring the cylindrical beige ceramic mug to the angular rack with slanted support rod, set the cylindrical beige ceramic mug onto the angular rack with slanted support rod to hang, and release the cylindrical beige ceramic mug.", + "Grasp the mug with glossy beige finish at edge contact point 0, lift the mug with glossy beige finish from its spot, carry the mug with glossy beige finish to the metal rack, hang the mug with glossy beige finish on the metal rack, and release.", + "Get to the mug with side handle, grasp the mug with side handle by edge contact point 0, lift the mug with side handle, bring it to the rack with angular body, hang the mug with side handle on the rack with angular body, and release.", + "Reach the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle, carry the cylindrical coffee mug with handle to the rack with two rods sticking out, hang the cylindrical coffee mug with handle on the rack with two rods sticking out, then release the cylindrical coffee mug with handle.", + "Reach for the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug clear, place the medium beige mug onto the dark gray angled rack to hang, then release the medium beige mug.", + "Hold the mug with side handle at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the mug with side handle onto the smooth dark gray rack to hang, then let go.", + "Grab the beige mug used for drinks at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the beige mug used for drinks on the metallic rack with smooth finish, then release the grip.", + "Move the arm toward the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the mug with glossy beige finish onto the angled rack with long and short rods to hang, then release.", + "Take the medium beige mug by edge contact point 0, lift the medium beige mug up, move the medium beige mug in front of the dark gray rack, hang the medium beige mug onto the dark gray rack, then release the medium beige mug.", + "Grab the mug with round handle at edge contact point 0, lift the mug with round handle, move it to the metal rack, hook the mug with round handle onto the metal rack, and release the mug with round handle.", + "Use the arm to grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, move toward the rack with angular body, hang the mug with glossy beige finish on the rack with angular body, then release the mug with glossy beige finish.", + "Direct the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side clear, move to the smooth dark gray rack, hang the mug with logo design on side on the smooth dark gray rack, release the grip.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks up, move the beige mug used for drinks to the angular rack with slanted support rod, hang the beige mug used for drinks on the angular rack with slanted support rod, and let go of the beige mug used for drinks.", + "Grab the mug with glossy beige finish at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the mug with glossy beige finish onto the metallic rack with smooth finish, and release the mug with glossy beige finish.", + "Using the arm, secure the mug with side handle by edge contact point 0, lift, align the mug with side handle with the medium rack with protruding rods, hang the mug with side handle on the medium rack with protruding rods, and let go.", + "With the arm, reach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the smooth ceramic mug on the angular rack with slanted support rod, then release the smooth ceramic mug.", + "Approach the mug with rounded base, take hold of the mug with rounded base by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the mug with rounded base onto the metallic rack with smooth finish, and let go.", + "Grasp the medium beige mug by edge contact point 0, lift the medium beige mug, move it over to the rack with two rods sticking out, hook the medium beige mug onto the rack with two rods sticking out, and release the medium beige mug.", + "With the arm, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift and transport the glossy beige ceramic drinking mug to the metallic angular rack with rod pair, hang the glossy beige ceramic drinking mug on the metallic angular rack with rod pair, then let go.", + "With the arm, take the mug with side handle by edge contact point 0, lift the mug with side handle clear, move to the rack with two rods sticking out, hook the mug with side handle onto the rack with two rods sticking out, then open the grip.", + "Grab the ceramic mug with printed logo at edge contact point 0, raise it, guide it to the rack with angular body, set the ceramic mug with printed logo onto the rack with angular body so it hangs, then release the ceramic mug with printed logo.", + "Direct the arm to grip the mug with side handle at edge contact point 0, pick the mug with side handle up, carry it to the angled rack with long and short rods, hang the mug with side handle on the angled rack with long and short rods, and release.", + "Guide the arm to the cylindrical beige ceramic mug, grip the cylindrical beige ceramic mug at edge contact point 0, lift the cylindrical beige ceramic mug, align the cylindrical beige ceramic mug with the rack with angular body, hang the cylindrical beige ceramic mug on the rack with angular body, release the cylindrical beige ceramic mug.", + "With the arm, approach the mug with side handle, grasp the mug with side handle by edge contact point 0, lift the mug with side handle, bring it to the angular rack with slanted support rod, hang the mug with side handle on the angular rack with slanted support rod, then let go.", + "Guide the arm to the cylindrical coffee mug with handle, grip the cylindrical coffee mug with handle by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the cylindrical coffee mug with handle on the medium rack with protruding rods, and release.", + "Take the mug with rounded base by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the mug with rounded base on the smooth dark gray rack, and release your grip.", + "Using the arm, take the smooth ceramic mug at edge contact point 0, raise the smooth ceramic mug, move to the dark gray angled rack, hook the smooth ceramic mug onto the dark gray angled rack, and release the smooth ceramic mug.", + "With the arm, take hold of the glossy beige ceramic drinking mug by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the glossy beige ceramic drinking mug on the metallic angular rack with rod pair, then release.", + "Have the arm grasp the mug with side handle by edge contact point 0, lift the mug with side handle, bring it to the metallic angular rack with rod pair, hang the mug with side handle from the metallic angular rack with rod pair, then release.", + "Take the mug with rounded base by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the mug with rounded base onto the angled rack with long and short rods so it hangs, then let go.", + "Have the arm reach the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug, move to the dark gray rack, hang the glossy beige ceramic drinking mug on the dark gray rack, then open the grip.", + "Move the arm to the medium beige mug, grasp the medium beige mug by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the medium beige mug on the metallic angular rack with rod pair, release the medium beige mug.", + "Pick up the medium beige mug by edge contact point 0, move the medium beige mug to the rack with angular body, hang the medium beige mug on the rack with angular body, and release the medium beige mug once it holds.", + "Send the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry the smooth ceramic mug to the angular rack with slanted support rod, hang the smooth ceramic mug on the angular rack with slanted support rod, and release the smooth ceramic mug.", + "Use the arm to grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move over to the rack with two rods sticking out, hang the smooth ceramic mug on the rack with two rods sticking out, and release the smooth ceramic mug.", + "Hold the glossy beige ceramic drinking mug using edge contact point 0, lift the glossy beige ceramic drinking mug up, bring the glossy beige ceramic drinking mug to the metallic rack with smooth finish, hang the glossy beige ceramic drinking mug on the metallic rack with smooth finish, then release.", + "Move the arm toward the medium beige mug, grasp the medium beige mug at edge contact point 0, lift the medium beige mug, carry the medium beige mug to the rack with two rods sticking out, hang the medium beige mug on the rack with two rods sticking out, release the medium beige mug.", + "Bring the arm to the mug with side handle, grasp the mug with side handle by edge contact point 0, lift it, move to the dark gray rack, hang the mug with side handle on the dark gray rack, then let go.", + "Take the smooth ceramic mug by edge contact point 0, lift it from its spot, carry the smooth ceramic mug to the metallic rack with smooth finish, hang the smooth ceramic mug on the metallic rack with smooth finish, then release the smooth ceramic mug.", + "Go to the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift it clear, align it with the rack with angular body, hang the cylindrical coffee mug with handle on the rack with angular body, and let go.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, bring the beige mug used for drinks to the dark gray angled rack, set the beige mug used for drinks onto the dark gray angled rack to hang, and release the beige mug used for drinks.", + "Grasp the cylindrical coffee mug with handle at edge contact point 0, lift the cylindrical coffee mug with handle from its spot, carry the cylindrical coffee mug with handle to the metallic rack with smooth finish, hang the cylindrical coffee mug with handle on the metallic rack with smooth finish, and release.", + "Get to the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, bring it to the angled rack with long and short rods, hang the mug with glossy beige finish on the angled rack with long and short rods, and release.", + "Reach the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, carry the ceramic mug with printed logo to the rack with angular body, hang the ceramic mug with printed logo on the rack with angular body, then release the ceramic mug with printed logo.", + "Reach for the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish clear, place the mug with glossy beige finish onto the metallic angular rack with rod pair to hang, then release the mug with glossy beige finish.", + "Hold the mug with logo design on side at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the mug with logo design on side onto the rack with two rods sticking out to hang, then let go.", + "Grab the mug with round handle at edge contact point 0, lift it, bring it to the rack with angular body, hang the mug with round handle on the rack with angular body, then release the grip.", + "Move the arm toward the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the beige mug used for drinks onto the metallic rack with smooth finish to hang, then release.", + "Take the mug with round handle by edge contact point 0, lift the mug with round handle up, move the mug with round handle in front of the metallic rack with smooth finish, hang the mug with round handle onto the metallic rack with smooth finish, then release the mug with round handle.", + "Grab the mug with glossy beige finish at edge contact point 0, lift the mug with glossy beige finish, move it to the dark gray angled rack, hook the mug with glossy beige finish onto the dark gray angled rack, and release the mug with glossy beige finish.", + "Use the arm to grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, move toward the smooth dark gray rack, hang the beige mug used for drinks on the smooth dark gray rack, then release the beige mug used for drinks.", + "Direct the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side clear, move to the metallic rack with smooth finish, hang the mug with logo design on side on the metallic rack with smooth finish, release the grip.", + "Grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base up, move the mug with rounded base to the dark gray angled rack, hang the mug with rounded base on the dark gray angled rack, and let go of the mug with rounded base.", + "Grab the medium beige mug at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the medium beige mug onto the metallic angular rack with rod pair, and release the medium beige mug.", + "Using the arm, secure the smooth ceramic mug by edge contact point 0, lift, align the smooth ceramic mug with the angled rack with long and short rods, hang the smooth ceramic mug on the angled rack with long and short rods, and let go.", + "With the arm, reach the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the mug with glossy beige finish on the metallic rack with smooth finish, then release the mug with glossy beige finish.", + "Approach the smooth ceramic mug, take hold of the smooth ceramic mug by edge contact point 0, raise it, bring it to the metal rack, hook the smooth ceramic mug onto the metal rack, and let go.", + "Grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side, move it over to the angled rack with long and short rods, hook the mug with logo design on side onto the angled rack with long and short rods, and release the mug with logo design on side.", + "With the arm, grasp the cylindrical beige ceramic mug by edge contact point 0, lift and transport the cylindrical beige ceramic mug to the angular rack with slanted support rod, hang the cylindrical beige ceramic mug on the angular rack with slanted support rod, then let go.", + "With the arm, take the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo clear, move to the smooth rack, hook the ceramic mug with printed logo onto the smooth rack, then open the grip.", + "Grab the smooth ceramic mug at edge contact point 0, raise it, guide it to the dark gray rack, set the smooth ceramic mug onto the dark gray rack so it hangs, then release the smooth ceramic mug.", + "Direct the arm to grip the smooth ceramic mug at edge contact point 0, pick the smooth ceramic mug up, carry it to the rack with angular body, hang the smooth ceramic mug on the rack with angular body, and release.", + "Guide the arm to the cylindrical coffee mug with handle, grip the cylindrical coffee mug with handle at edge contact point 0, lift the cylindrical coffee mug with handle, align the cylindrical coffee mug with handle with the dark gray angled rack, hang the cylindrical coffee mug with handle on the dark gray angled rack, release the cylindrical coffee mug with handle.", + "With the arm, approach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the dark gray angled rack, hang the smooth ceramic mug on the dark gray angled rack, then let go.", + "Guide the arm to the smooth ceramic mug, grip the smooth ceramic mug by edge contact point 0, pick it up, move to the metal rack, hang the smooth ceramic mug on the metal rack, and release.", + "Take the glossy beige ceramic drinking mug by edge contact point 0, lift it off the surface, move it to the metal rack, hang the glossy beige ceramic drinking mug on the metal rack, and release your grip.", + "Using the arm, take the beige mug used for drinks at edge contact point 0, raise the beige mug used for drinks, move to the metal rack, hook the beige mug used for drinks onto the metal rack, and release the beige mug used for drinks.", + "With the arm, take hold of the ceramic mug with printed logo by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the ceramic mug with printed logo on the smooth dark gray rack, then release.", + "Have the arm grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, bring it to the dark gray rack, hang the ceramic mug with printed logo from the dark gray rack, then release.", + "Take the cylindrical beige ceramic mug by edge contact point 0, lift it, bring it over to the rack with angular body, place the cylindrical beige ceramic mug onto the rack with angular body so it hangs, then let go.", + "Have the arm reach the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side, move to the rack with angular body, hang the mug with logo design on side on the rack with angular body, then open the grip.", + "Move the arm to the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift, carry to the dark gray angled rack, hang the beige mug used for drinks on the dark gray angled rack, release the beige mug used for drinks.", + "Pick up the medium beige mug by edge contact point 0, move the medium beige mug to the metallic angular rack with rod pair, hang the medium beige mug on the metallic angular rack with rod pair, and release the medium beige mug once it holds.", + "Send the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift it, carry the mug with logo design on side to the angular rack with slanted support rod, hang the mug with logo design on side on the angular rack with slanted support rod, and release the mug with logo design on side.", + "Use the arm to grab the mug with side handle by edge contact point 0, lift the mug with side handle, move over to the angled rack with long and short rods, hang the mug with side handle on the angled rack with long and short rods, and release the mug with side handle.", + "Hold the mug with glossy beige finish using edge contact point 0, lift the mug with glossy beige finish up, bring the mug with glossy beige finish to the medium rack with protruding rods, hang the mug with glossy beige finish on the medium rack with protruding rods, then release.", + "Move the arm toward the mug with round handle, grasp the mug with round handle at edge contact point 0, lift the mug with round handle, carry the mug with round handle to the smooth rack, hang the mug with round handle on the smooth rack, release the mug with round handle.", + "Bring the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, move to the rack with angular body, hang the smooth ceramic mug on the rack with angular body, then let go.", + "Take the mug with side handle by edge contact point 0, lift it from its spot, carry the mug with side handle to the rack with angular body, hang the mug with side handle on the rack with angular body, then release the mug with side handle.", + "Go to the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift it clear, align it with the smooth rack, hang the mug with rounded base on the smooth rack, and let go.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, bring the beige mug used for drinks to the rack with angular body, set the beige mug used for drinks onto the rack with angular body to hang, and release the beige mug used for drinks." + ], + "unseen": [ + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige mug on the medium-sized rack, then let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode21.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..5069f2d7ba85903f01b54e6dba4ec4d265051f78 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the arm, take the mug with handle at edge contact point 0, raise the mug with handle, move to the rack with angular body, hook the mug with handle onto the rack with angular body, and release the mug with handle.", + "Take the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug up, move the medium-sized drinking mug in front of the metal rack, hang the medium-sized drinking mug onto the metal rack, then release the medium-sized drinking mug.", + "Move the arm to the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift, carry to the dark gray angled rack, hang the mug with loop handle on the dark gray angled rack, release the mug with loop handle.", + "Pick up the medium-sized drinking mug by edge contact point 0, move the medium-sized drinking mug to the angled rack with long and short rods, hang the medium-sized drinking mug on the angled rack with long and short rods, and release the medium-sized drinking mug once it holds.", + "With the arm, grasp the mug with glossy surface by edge contact point 0, lift and transport the mug with glossy surface to the rack with two rods sticking out, hang the mug with glossy surface on the rack with two rods sticking out, then let go.", + "Grab the medium-sized drinking mug at edge contact point 0, lift it, bring it to the dark gray rack, hang the medium-sized drinking mug on the dark gray rack, then release the grip.", + "Direct the arm to the blue mug with solid texture, grasp the blue mug with solid texture by edge contact point 0, lift the blue mug with solid texture clear, move to the metallic angular rack with rod pair, hang the blue mug with solid texture on the metallic angular rack with rod pair, release the grip.", + "With the arm, take the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug clear, move to the angular rack with slanted support rod, hook the medium-sized drinking mug onto the angular rack with slanted support rod, then open the grip.", + "With the arm, approach the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, bring it to the smooth dark gray rack, hang the standard blue tea mug on the smooth dark gray rack, then let go.", + "Get to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug, bring it to the smooth dark gray rack, hang the cylindrical blue mug on the smooth dark gray rack, and release.", + "Have the arm grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, bring it to the smooth rack, hang the round mug with curved handle from the smooth rack, then release.", + "Use the arm to grab the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, move over to the smooth dark gray rack, hang the round mug with curved handle on the smooth dark gray rack, and release the round mug with curved handle.", + "Take the mug with loop handle by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the mug with loop handle on the angular rack with slanted support rod, and release your grip.", + "Take the mug with glossy surface by edge contact point 0, lift it from its spot, carry the mug with glossy surface to the metal rack, hang the mug with glossy surface on the metal rack, then release the mug with glossy surface.", + "Direct the arm to grip the bright blue coffee mug at edge contact point 0, pick the bright blue coffee mug up, carry it to the metallic angular rack with rod pair, hang the bright blue coffee mug on the metallic angular rack with rod pair, and release.", + "Reach for the bright blue coffee mug, grasp the bright blue coffee mug by edge contact point 0, lift the bright blue coffee mug clear, place the bright blue coffee mug onto the dark gray angled rack to hang, then release the bright blue coffee mug.", + "Guide the arm to the bright blue coffee mug, grip the bright blue coffee mug by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the bright blue coffee mug on the metallic angular rack with rod pair, and release.", + "Hold the round mug with curved handle using edge contact point 0, lift the round mug with curved handle up, bring the round mug with curved handle to the metallic angular rack with rod pair, hang the round mug with curved handle on the metallic angular rack with rod pair, then release.", + "Send the arm to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift it, carry the cylindrical blue mug to the smooth dark gray rack, hang the cylindrical blue mug on the smooth dark gray rack, and release the cylindrical blue mug.", + "Move the arm toward the mug with glossy surface, grasp the mug with glossy surface at edge contact point 0, lift the mug with glossy surface, carry the mug with glossy surface to the medium rack with protruding rods, hang the mug with glossy surface on the medium rack with protruding rods, release the mug with glossy surface.", + "Have the arm reach the bright blue coffee mug, grasp the bright blue coffee mug by edge contact point 0, lift the bright blue coffee mug, move to the metallic rack with smooth finish, hang the bright blue coffee mug on the metallic rack with smooth finish, then open the grip.", + "Grab the blue mug for hot drinks at edge contact point 0, lift the blue mug for hot drinks, move it to the medium rack with protruding rods, hook the blue mug for hot drinks onto the medium rack with protruding rods, and release the blue mug for hot drinks.", + "Grasp the mug with handle by edge contact point 0, lift the mug with handle, move it over to the metallic angular rack with rod pair, hook the mug with handle onto the metallic angular rack with rod pair, and release the mug with handle.", + "Grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, bring the round mug with curved handle to the medium rack with protruding rods, set the round mug with curved handle onto the medium rack with protruding rods to hang, and release the round mug with curved handle.", + "Guide the arm to the cylindrical blue mug, grip the cylindrical blue mug at edge contact point 0, lift the cylindrical blue mug, align the cylindrical blue mug with the medium rack with protruding rods, hang the cylindrical blue mug on the medium rack with protruding rods, release the cylindrical blue mug.", + "Bring the arm to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the cylindrical blue mug on the metallic angular rack with rod pair, then let go.", + "Take the medium-sized drinking mug by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the medium-sized drinking mug onto the metallic angular rack with rod pair so it hangs, then let go.", + "Using the arm, secure the mug with handle by edge contact point 0, lift, align the mug with handle with the rack with angular body, hang the mug with handle on the rack with angular body, and let go.", + "Go to the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the mug with glossy surface on the rack with two rods sticking out, and let go.", + "Use the arm to grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, move toward the smooth dark gray rack, hang the mug with glossy surface on the smooth dark gray rack, then release the mug with glossy surface.", + "Grasp the mug with handle at edge contact point 0, lift the mug with handle from its spot, carry the mug with handle to the rack with angular body, hang the mug with handle on the rack with angular body, and release.", + "With the arm, take hold of the blue mug for hot drinks by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the blue mug for hot drinks on the metallic rack with smooth finish, then release.", + "Grab the blue mug at edge contact point 0, raise it, guide it to the rack with angular body, set the blue mug onto the rack with angular body so it hangs, then release the blue mug.", + "Grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug up, move the medium-sized drinking mug to the metallic rack with smooth finish, hang the medium-sized drinking mug on the metallic rack with smooth finish, and let go of the medium-sized drinking mug.", + "Move the arm toward the handle-mounted blue drinking mug, grasp the handle-mounted blue drinking mug by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the handle-mounted blue drinking mug onto the angular rack with slanted support rod to hang, then release.", + "Hold the mug with glossy surface at edge contact point 0, lift it up, move toward the smooth rack, place the mug with glossy surface onto the smooth rack to hang, then let go.", + "Approach the mug with handle, take hold of the mug with handle by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the mug with handle onto the metallic rack with smooth finish, and let go.", + "Reach the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, carry the round mug with curved handle to the dark gray rack, hang the round mug with curved handle on the dark gray rack, then release the round mug with curved handle.", + "With the arm, reach the bright blue coffee mug, grasp the bright blue coffee mug by edge contact point 0, lift, align it to the rack with angular body, hang the bright blue coffee mug on the rack with angular body, then release the bright blue coffee mug.", + "Grab the bright blue coffee mug at edge contact point 0, pick it up, move it over to the dark gray rack, hang the bright blue coffee mug onto the dark gray rack, and release the bright blue coffee mug.", + "Using the arm, take the blue mug at edge contact point 0, raise the blue mug, move to the metal rack, hook the blue mug onto the metal rack, and release the blue mug.", + "Take the mug with handle by edge contact point 0, lift the mug with handle up, move the mug with handle in front of the angular rack with slanted support rod, hang the mug with handle onto the angular rack with slanted support rod, then release the mug with handle.", + "Move the arm to the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift, carry to the rack with angular body, hang the mug with loop handle on the rack with angular body, release the mug with loop handle.", + "Pick up the cylindrical blue mug by edge contact point 0, move the cylindrical blue mug to the metallic rack with smooth finish, hang the cylindrical blue mug on the metallic rack with smooth finish, and release the cylindrical blue mug once it holds.", + "With the arm, grasp the bright blue coffee mug by edge contact point 0, lift and transport the bright blue coffee mug to the angled rack with long and short rods, hang the bright blue coffee mug on the angled rack with long and short rods, then let go.", + "Grab the blue mug with solid texture at edge contact point 0, lift it, bring it to the smooth rack, hang the blue mug with solid texture on the smooth rack, then release the grip.", + "Direct the arm to the handle-mounted blue drinking mug, grasp the handle-mounted blue drinking mug by edge contact point 0, lift the handle-mounted blue drinking mug clear, move to the smooth dark gray rack, hang the handle-mounted blue drinking mug on the smooth dark gray rack, release the grip.", + "With the arm, take the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug clear, move to the metal rack, hook the cylindrical blue mug onto the metal rack, then open the grip.", + "With the arm, approach the bright blue coffee mug, grasp the bright blue coffee mug by edge contact point 0, lift the bright blue coffee mug, bring it to the angled rack with long and short rods, hang the bright blue coffee mug on the angled rack with long and short rods, then let go.", + "Get to the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug, bring it to the dark gray rack, hang the medium-sized drinking mug on the dark gray rack, and release.", + "Have the arm grasp the mug with handle by edge contact point 0, lift the mug with handle, bring it to the smooth rack, hang the mug with handle from the smooth rack, then release.", + "Use the arm to grab the mug with handle by edge contact point 0, lift the mug with handle, move over to the rack with angular body, hang the mug with handle on the rack with angular body, and release the mug with handle.", + "Take the cylindrical blue mug by edge contact point 0, lift it off the surface, move it to the metal rack, hang the cylindrical blue mug on the metal rack, and release your grip.", + "Take the cylindrical blue mug by edge contact point 0, lift it from its spot, carry the cylindrical blue mug to the angled rack with long and short rods, hang the cylindrical blue mug on the angled rack with long and short rods, then release the cylindrical blue mug.", + "Direct the arm to grip the blue mug for hot drinks at edge contact point 0, pick the blue mug for hot drinks up, carry it to the angular rack with slanted support rod, hang the blue mug for hot drinks on the angular rack with slanted support rod, and release.", + "Reach for the blue mug for hot drinks, grasp the blue mug for hot drinks by edge contact point 0, lift the blue mug for hot drinks clear, place the blue mug for hot drinks onto the dark gray angled rack to hang, then release the blue mug for hot drinks.", + "Guide the arm to the standard blue tea mug, grip the standard blue tea mug by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the standard blue tea mug on the angular rack with slanted support rod, and release.", + "Hold the blue mug for hot drinks using edge contact point 0, lift the blue mug for hot drinks up, bring the blue mug for hot drinks to the medium rack with protruding rods, hang the blue mug for hot drinks on the medium rack with protruding rods, then release.", + "Send the arm to the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift it, carry the round mug with curved handle to the metallic angular rack with rod pair, hang the round mug with curved handle on the metallic angular rack with rod pair, and release the round mug with curved handle.", + "Move the arm toward the handle-mounted blue drinking mug, grasp the handle-mounted blue drinking mug at edge contact point 0, lift the handle-mounted blue drinking mug, carry the handle-mounted blue drinking mug to the angled rack with long and short rods, hang the handle-mounted blue drinking mug on the angled rack with long and short rods, release the handle-mounted blue drinking mug.", + "Have the arm reach the blue mug, grasp the blue mug by edge contact point 0, lift the blue mug, move to the dark gray angled rack, hang the blue mug on the dark gray angled rack, then open the grip.", + "Grab the blue mug with solid texture at edge contact point 0, lift the blue mug with solid texture, move it to the metallic rack with smooth finish, hook the blue mug with solid texture onto the metallic rack with smooth finish, and release the blue mug with solid texture.", + "Grasp the mug with loop handle by edge contact point 0, lift the mug with loop handle, move it over to the rack with two rods sticking out, hook the mug with loop handle onto the rack with two rods sticking out, and release the mug with loop handle.", + "Grasp the blue mug by edge contact point 0, lift the blue mug, bring the blue mug to the angular rack with slanted support rod, set the blue mug onto the angular rack with slanted support rod to hang, and release the blue mug.", + "Guide the arm to the cylindrical blue mug, grip the cylindrical blue mug at edge contact point 0, lift the cylindrical blue mug, align the cylindrical blue mug with the metallic angular rack with rod pair, hang the cylindrical blue mug on the metallic angular rack with rod pair, release the cylindrical blue mug.", + "Bring the arm to the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift it, move to the angled rack with long and short rods, hang the medium-sized drinking mug on the angled rack with long and short rods, then let go.", + "Take the mug with glossy surface by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the mug with glossy surface onto the metallic angular rack with rod pair so it hangs, then let go.", + "Using the arm, secure the bright blue coffee mug by edge contact point 0, lift, align the bright blue coffee mug with the dark gray angled rack, hang the bright blue coffee mug on the dark gray angled rack, and let go.", + "Go to the mug with handle, grasp the mug with handle by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the mug with handle on the metallic angular rack with rod pair, and let go.", + "Use the arm to grasp the blue mug by edge contact point 0, lift the blue mug, move toward the rack with two rods sticking out, hang the blue mug on the rack with two rods sticking out, then release the blue mug.", + "Grasp the blue mug for hot drinks at edge contact point 0, lift the blue mug for hot drinks from its spot, carry the blue mug for hot drinks to the dark gray angled rack, hang the blue mug for hot drinks on the dark gray angled rack, and release.", + "With the arm, take hold of the medium-sized drinking mug by edge contact point 0, pick it up, bring it to the rack with angular body, hang the medium-sized drinking mug on the rack with angular body, then release.", + "Grab the handle-mounted blue drinking mug at edge contact point 0, raise it, guide it to the metal rack, set the handle-mounted blue drinking mug onto the metal rack so it hangs, then release the handle-mounted blue drinking mug.", + "Grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug up, move the standard blue tea mug to the rack with angular body, hang the standard blue tea mug on the rack with angular body, and let go of the standard blue tea mug.", + "Move the arm toward the blue mug, grasp the blue mug by edge contact point 0, lift it, travel to the smooth rack, place the blue mug onto the smooth rack to hang, then release.", + "Hold the mug with handle at edge contact point 0, lift it up, move toward the dark gray angled rack, place the mug with handle onto the dark gray angled rack to hang, then let go.", + "Approach the standard blue tea mug, take hold of the standard blue tea mug by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the standard blue tea mug onto the angled rack with long and short rods, and let go.", + "Reach the mug with handle, grasp the mug with handle by edge contact point 0, lift the mug with handle, carry the mug with handle to the smooth dark gray rack, hang the mug with handle on the smooth dark gray rack, then release the mug with handle.", + "With the arm, reach the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift, align it to the rack with angular body, hang the standard blue tea mug on the rack with angular body, then release the standard blue tea mug.", + "Grab the blue mug for hot drinks at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the blue mug for hot drinks onto the rack with two rods sticking out, and release the blue mug for hot drinks.", + "Using the arm, take the cylindrical blue mug at edge contact point 0, raise the cylindrical blue mug, move to the metallic angular rack with rod pair, hook the cylindrical blue mug onto the metallic angular rack with rod pair, and release the cylindrical blue mug.", + "Take the bright blue coffee mug by edge contact point 0, lift the bright blue coffee mug up, move the bright blue coffee mug in front of the angled rack with long and short rods, hang the bright blue coffee mug onto the angled rack with long and short rods, then release the bright blue coffee mug.", + "Move the arm to the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift, carry to the rack with angular body, hang the mug with glossy surface on the rack with angular body, release the mug with glossy surface.", + "Pick up the blue mug with solid texture by edge contact point 0, move the blue mug with solid texture to the metallic angular rack with rod pair, hang the blue mug with solid texture on the metallic angular rack with rod pair, and release the blue mug with solid texture once it holds.", + "With the arm, grasp the blue mug for hot drinks by edge contact point 0, lift and transport the blue mug for hot drinks to the rack with two rods sticking out, hang the blue mug for hot drinks on the rack with two rods sticking out, then let go.", + "Grab the handle-mounted blue drinking mug at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the handle-mounted blue drinking mug on the metallic angular rack with rod pair, then release the grip.", + "Direct the arm to the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface clear, move to the smooth rack, hang the mug with glossy surface on the smooth rack, release the grip.", + "With the arm, take the round mug with curved handle by edge contact point 0, lift the round mug with curved handle clear, move to the dark gray rack, hook the round mug with curved handle onto the dark gray rack, then open the grip.", + "With the arm, approach the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, bring it to the smooth rack, hang the mug with glossy surface on the smooth rack, then let go.", + "Get to the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, bring it to the smooth rack, hang the standard blue tea mug on the smooth rack, and release.", + "Have the arm grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, bring it to the rack with two rods sticking out, hang the round mug with curved handle from the rack with two rods sticking out, then release.", + "Use the arm to grab the handle-mounted blue drinking mug by edge contact point 0, lift the handle-mounted blue drinking mug, move over to the smooth dark gray rack, hang the handle-mounted blue drinking mug on the smooth dark gray rack, and release the handle-mounted blue drinking mug.", + "Take the medium-sized drinking mug by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the medium-sized drinking mug on the metallic rack with smooth finish, and release your grip.", + "Take the cylindrical blue mug by edge contact point 0, lift it from its spot, carry the cylindrical blue mug to the smooth dark gray rack, hang the cylindrical blue mug on the smooth dark gray rack, then release the cylindrical blue mug.", + "Direct the arm to grip the blue mug for hot drinks at edge contact point 0, pick the blue mug for hot drinks up, carry it to the metallic angular rack with rod pair, hang the blue mug for hot drinks on the metallic angular rack with rod pair, and release.", + "Reach for the mug with handle, grasp the mug with handle by edge contact point 0, lift the mug with handle clear, place the mug with handle onto the metallic rack with smooth finish to hang, then release the mug with handle.", + "Guide the arm to the handle-mounted blue drinking mug, grip the handle-mounted blue drinking mug by edge contact point 0, pick it up, move to the dark gray rack, hang the handle-mounted blue drinking mug on the dark gray rack, and release.", + "Hold the bright blue coffee mug using edge contact point 0, lift the bright blue coffee mug up, bring the bright blue coffee mug to the metallic angular rack with rod pair, hang the bright blue coffee mug on the metallic angular rack with rod pair, then release.", + "Send the arm to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift it, carry the cylindrical blue mug to the angled rack with long and short rods, hang the cylindrical blue mug on the angled rack with long and short rods, and release the cylindrical blue mug.", + "Move the arm toward the standard blue tea mug, grasp the standard blue tea mug at edge contact point 0, lift the standard blue tea mug, carry the standard blue tea mug to the dark gray rack, hang the standard blue tea mug on the dark gray rack, release the standard blue tea mug." + ], + "unseen": [ + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and release.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release the lightweight mug for beverages.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go of the smooth shiny blue mug.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and release.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release the drinking mug made of ceramic.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the drinking mug made of ceramic on the rack with straight and slanted rods, then let go.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go of the lightweight mug for beverages.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and let go.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then release the smooth shiny blue mug.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go of the smooth shiny blue mug.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and let go.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then let go.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then release the lightweight mug for beverages.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go of the drinking mug made of ceramic.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release the smooth shiny blue mug.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go of the lightweight mug for beverages.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then release the lightweight mug for beverages.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go of the lightweight mug for beverages.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and let go.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and release.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then release the drinking mug made of ceramic.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go of the smooth shiny blue mug.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release the smooth shiny blue mug.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go of the lightweight mug for beverages.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then release the lightweight mug for beverages.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go of the smooth shiny blue mug.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and let go.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then let go.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release the smooth shiny blue mug.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the lightweight mug for beverages on the rack with straight and slanted rods, then let go.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then let go.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode22.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..6a018ea667b99cd923ad68ef4ca0dc003d08d22d --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the drinking mug shiny black exterior by edge contact point 0, move the drinking mug shiny black exterior to the metallic angular rack with rod pair, hang the drinking mug shiny black exterior on the metallic angular rack with rod pair, and release the drinking mug shiny black exterior once it holds.", + "Take the black ceramic mug by edge contact point 0, lift it from its spot, carry the black ceramic mug to the angular rack with slanted support rod, hang the black ceramic mug on the angular rack with slanted support rod, then release the black ceramic mug.", + "Get to the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug, bring it to the medium rack with protruding rods, hang the black ceramic mug on the medium rack with protruding rods, and release.", + "With the arm, reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift, align it to the rack with angular body, hang the glossy black mug medium-sized for drinking on the rack with angular body, then release the glossy black mug medium-sized for drinking.", + "Reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, carry the glossy black mug medium-sized for drinking to the dark gray angled rack, hang the glossy black mug medium-sized for drinking on the dark gray angled rack, then release the glossy black mug medium-sized for drinking.", + "Grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, bring the medium mug smooth rounded handle to the dark gray angled rack, set the medium mug smooth rounded handle onto the dark gray angled rack to hang, and release the medium mug smooth rounded handle.", + "With the arm, take the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish clear, move to the medium rack with protruding rods, hook the cylindrical mug with black finish onto the medium rack with protruding rods, then open the grip.", + "Approach the drinking mug shiny black exterior, take hold of the drinking mug shiny black exterior by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the drinking mug shiny black exterior onto the rack with two rods sticking out, and let go.", + "Take the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle up, move the black mug with rounded sturdy handle in front of the metallic angular rack with rod pair, hang the black mug with rounded sturdy handle onto the metallic angular rack with rod pair, then release the black mug with rounded sturdy handle.", + "Using the arm, secure the black mug with rounded sturdy handle by edge contact point 0, lift, align the black mug with rounded sturdy handle with the medium rack with protruding rods, hang the black mug with rounded sturdy handle on the medium rack with protruding rods, and let go.", + "Take the palm-sized mug glossy black body by edge contact point 0, lift it off the surface, move it to the smooth rack, hang the palm-sized mug glossy black body on the smooth rack, and release your grip.", + "Grab the palm-sized mug glossy black body at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the palm-sized mug glossy black body on the angular rack with slanted support rod, then release the grip.", + "With the arm, grasp the drinking mug shiny black exterior by edge contact point 0, lift and transport the drinking mug shiny black exterior to the metallic rack with smooth finish, hang the drinking mug shiny black exterior on the metallic rack with smooth finish, then let go.", + "Have the arm grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, bring it to the rack with two rods sticking out, hang the ceramic mug smooth outside from the rack with two rods sticking out, then release.", + "Grab the medium mug smooth rounded handle at edge contact point 0, lift the medium mug smooth rounded handle, move it to the metallic rack with smooth finish, hook the medium mug smooth rounded handle onto the metallic rack with smooth finish, and release the medium mug smooth rounded handle.", + "With the arm, take hold of the glossy black mug medium-sized for drinking by edge contact point 0, pick it up, bring it to the angular rack with slanted support rod, hang the glossy black mug medium-sized for drinking on the angular rack with slanted support rod, then release.", + "Direct the arm to the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle clear, move to the angled rack with long and short rods, hang the medium mug smooth rounded handle on the angled rack with long and short rods, release the grip.", + "Hold the medium mug smooth rounded handle at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the medium mug smooth rounded handle onto the medium rack with protruding rods to hang, then let go.", + "Bring the arm to the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift it, move to the rack with angular body, hang the palm-sized mug glossy black body on the rack with angular body, then let go.", + "Move the arm toward the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the glossy black mug medium-sized for drinking onto the metallic rack with smooth finish to hang, then release.", + "Guide the arm to the palm-sized mug glossy black body, grip the palm-sized mug glossy black body by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the palm-sized mug glossy black body on the metallic rack with smooth finish, and release.", + "Guide the arm to the palm-sized mug glossy black body, grip the palm-sized mug glossy black body at edge contact point 0, lift the palm-sized mug glossy black body, align the palm-sized mug glossy black body with the metal rack, hang the palm-sized mug glossy black body on the metal rack, release the palm-sized mug glossy black body.", + "Grab the black mug with rounded sturdy handle at edge contact point 0, raise it, guide it to the rack with angular body, set the black mug with rounded sturdy handle onto the rack with angular body so it hangs, then release the black mug with rounded sturdy handle.", + "Grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material, move it over to the metallic angular rack with rod pair, hook the black mug glossy ceramic material onto the metallic angular rack with rod pair, and release the black mug glossy ceramic material.", + "Use the arm to grab the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move over to the dark gray angled rack, hang the cylindrical mug with black finish on the dark gray angled rack, and release the cylindrical mug with black finish.", + "Grasp the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior up, move the drinking mug shiny black exterior to the metal rack, hang the drinking mug shiny black exterior on the metal rack, and let go of the drinking mug shiny black exterior.", + "Move the arm toward the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle at edge contact point 0, lift the black mug with rounded sturdy handle, carry the black mug with rounded sturdy handle to the angular rack with slanted support rod, hang the black mug with rounded sturdy handle on the angular rack with slanted support rod, release the black mug with rounded sturdy handle.", + "Reach for the black mug, grasp the black mug by edge contact point 0, lift the black mug clear, place the black mug onto the rack with two rods sticking out to hang, then release the black mug.", + "Direct the arm to grip the cylindrical mug with black finish at edge contact point 0, pick the cylindrical mug with black finish up, carry it to the smooth dark gray rack, hang the cylindrical mug with black finish on the smooth dark gray rack, and release.", + "Hold the palm-sized mug glossy black body using edge contact point 0, lift the palm-sized mug glossy black body up, bring the palm-sized mug glossy black body to the medium rack with protruding rods, hang the palm-sized mug glossy black body on the medium rack with protruding rods, then release.", + "Use the arm to grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move toward the dark gray rack, hang the ceramic mug smooth outside on the dark gray rack, then release the ceramic mug smooth outside.", + "Have the arm reach the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move to the angled rack with long and short rods, hang the ceramic mug smooth outside on the angled rack with long and short rods, then open the grip.", + "Take the black mug with rounded sturdy handle by edge contact point 0, lift it, bring it over to the metal rack, place the black mug with rounded sturdy handle onto the metal rack so it hangs, then let go.", + "Send the arm to the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift it, carry the cylindrical mug with black finish to the smooth rack, hang the cylindrical mug with black finish on the smooth rack, and release the cylindrical mug with black finish.", + "Grasp the drinking mug shiny black exterior at edge contact point 0, lift the drinking mug shiny black exterior from its spot, carry the drinking mug shiny black exterior to the angular rack with slanted support rod, hang the drinking mug shiny black exterior on the angular rack with slanted support rod, and release.", + "With the arm, approach the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, bring it to the medium rack with protruding rods, hang the black mug with rounded sturdy handle on the medium rack with protruding rods, then let go.", + "Move the arm to the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift, carry to the dark gray angled rack, hang the medium black mug with handle on the dark gray angled rack, release the medium black mug with handle.", + "Grab the medium black mug with handle at edge contact point 0, pick it up, move it over to the smooth rack, hang the medium black mug with handle onto the smooth rack, and release the medium black mug with handle.", + "Go to the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the palm-sized mug glossy black body on the dark gray angled rack, and let go.", + "Using the arm, take the cylindrical mug with black finish at edge contact point 0, raise the cylindrical mug with black finish, move to the angled rack with long and short rods, hook the cylindrical mug with black finish onto the angled rack with long and short rods, and release the cylindrical mug with black finish.", + "Pick up the drinking mug shiny black exterior by edge contact point 0, move the drinking mug shiny black exterior to the angular rack with slanted support rod, hang the drinking mug shiny black exterior on the angular rack with slanted support rod, and release the drinking mug shiny black exterior once it holds.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it from its spot, carry the black mug glossy ceramic material to the dark gray angled rack, hang the black mug glossy ceramic material on the dark gray angled rack, then release the black mug glossy ceramic material.", + "Get to the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior, bring it to the metallic angular rack with rod pair, hang the drinking mug shiny black exterior on the metallic angular rack with rod pair, and release.", + "With the arm, reach the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift, align it to the medium rack with protruding rods, hang the black mug glossy ceramic material on the medium rack with protruding rods, then release the black mug glossy ceramic material.", + "Reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, carry the glossy black mug medium-sized for drinking to the metal rack, hang the glossy black mug medium-sized for drinking on the metal rack, then release the glossy black mug medium-sized for drinking.", + "Grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, bring the ceramic mug smooth outside to the medium rack with protruding rods, set the ceramic mug smooth outside onto the medium rack with protruding rods to hang, and release the ceramic mug smooth outside.", + "With the arm, take the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle clear, move to the smooth dark gray rack, hook the black mug with rounded sturdy handle onto the smooth dark gray rack, then open the grip.", + "Approach the black mug, take hold of the black mug by edge contact point 0, raise it, bring it to the dark gray rack, hook the black mug onto the dark gray rack, and let go.", + "Take the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior up, move the drinking mug shiny black exterior in front of the medium rack with protruding rods, hang the drinking mug shiny black exterior onto the medium rack with protruding rods, then release the drinking mug shiny black exterior.", + "Using the arm, secure the black mug glossy ceramic material by edge contact point 0, lift, align the black mug glossy ceramic material with the dark gray rack, hang the black mug glossy ceramic material on the dark gray rack, and let go.", + "Take the drinking mug shiny black exterior by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the drinking mug shiny black exterior on the dark gray angled rack, and release your grip.", + "Grab the black ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the black ceramic mug on the smooth rack, then release the grip.", + "With the arm, grasp the medium mug smooth rounded handle by edge contact point 0, lift and transport the medium mug smooth rounded handle to the smooth dark gray rack, hang the medium mug smooth rounded handle on the smooth dark gray rack, then let go.", + "Have the arm grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material, bring it to the smooth dark gray rack, hang the black mug glossy ceramic material from the smooth dark gray rack, then release.", + "Grab the black mug glossy ceramic material at edge contact point 0, lift the black mug glossy ceramic material, move it to the metallic rack with smooth finish, hook the black mug glossy ceramic material onto the metallic rack with smooth finish, and release the black mug glossy ceramic material.", + "With the arm, take hold of the black mug with rounded sturdy handle by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the black mug with rounded sturdy handle on the rack with two rods sticking out, then release.", + "Direct the arm to the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle clear, move to the rack with angular body, hang the black mug with rounded sturdy handle on the rack with angular body, release the grip.", + "Hold the medium black mug with handle at edge contact point 0, lift it up, move toward the dark gray rack, place the medium black mug with handle onto the dark gray rack to hang, then let go.", + "Bring the arm to the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, move to the smooth dark gray rack, hang the glossy black mug medium-sized for drinking on the smooth dark gray rack, then let go.", + "Move the arm toward the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, travel to the metal rack, place the glossy black mug medium-sized for drinking onto the metal rack to hang, then release.", + "Guide the arm to the palm-sized mug glossy black body, grip the palm-sized mug glossy black body by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the palm-sized mug glossy black body on the angled rack with long and short rods, and release.", + "Guide the arm to the palm-sized mug glossy black body, grip the palm-sized mug glossy black body at edge contact point 0, lift the palm-sized mug glossy black body, align the palm-sized mug glossy black body with the dark gray rack, hang the palm-sized mug glossy black body on the dark gray rack, release the palm-sized mug glossy black body.", + "Grab the palm-sized mug glossy black body at edge contact point 0, raise it, guide it to the dark gray angled rack, set the palm-sized mug glossy black body onto the dark gray angled rack so it hangs, then release the palm-sized mug glossy black body.", + "Grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, move it over to the metal rack, hook the black mug with rounded sturdy handle onto the metal rack, and release the black mug with rounded sturdy handle.", + "Use the arm to grab the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move over to the metallic angular rack with rod pair, hang the cylindrical mug with black finish on the metallic angular rack with rod pair, and release the cylindrical mug with black finish.", + "Grasp the black mug by edge contact point 0, lift the black mug up, move the black mug to the dark gray rack, hang the black mug on the dark gray rack, and let go of the black mug.", + "Move the arm toward the ceramic mug smooth outside, grasp the ceramic mug smooth outside at edge contact point 0, lift the ceramic mug smooth outside, carry the ceramic mug smooth outside to the rack with angular body, hang the ceramic mug smooth outside on the rack with angular body, release the ceramic mug smooth outside.", + "Reach for the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle clear, place the black mug with rounded sturdy handle onto the metallic angular rack with rod pair to hang, then release the black mug with rounded sturdy handle.", + "Direct the arm to grip the medium mug smooth rounded handle at edge contact point 0, pick the medium mug smooth rounded handle up, carry it to the medium rack with protruding rods, hang the medium mug smooth rounded handle on the medium rack with protruding rods, and release.", + "Hold the ceramic mug smooth outside using edge contact point 0, lift the ceramic mug smooth outside up, bring the ceramic mug smooth outside to the angular rack with slanted support rod, hang the ceramic mug smooth outside on the angular rack with slanted support rod, then release.", + "Use the arm to grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move toward the dark gray rack, hang the cylindrical mug with black finish on the dark gray rack, then release the cylindrical mug with black finish.", + "Have the arm reach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, move to the smooth rack, hang the medium mug smooth rounded handle on the smooth rack, then open the grip.", + "Take the medium black mug with handle by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the medium black mug with handle onto the metallic rack with smooth finish so it hangs, then let go.", + "Send the arm to the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift it, carry the black mug glossy ceramic material to the smooth rack, hang the black mug glossy ceramic material on the smooth rack, and release the black mug glossy ceramic material.", + "Grasp the black mug at edge contact point 0, lift the black mug from its spot, carry the black mug to the smooth dark gray rack, hang the black mug on the smooth dark gray rack, and release.", + "With the arm, approach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, bring it to the dark gray angled rack, hang the medium mug smooth rounded handle on the dark gray angled rack, then let go.", + "Move the arm to the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift, carry to the dark gray rack, hang the palm-sized mug glossy black body on the dark gray rack, release the palm-sized mug glossy black body.", + "Grab the glossy black mug medium-sized for drinking at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the glossy black mug medium-sized for drinking onto the medium rack with protruding rods, and release the glossy black mug medium-sized for drinking.", + "Go to the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the drinking mug shiny black exterior on the dark gray angled rack, and let go.", + "Using the arm, take the medium mug smooth rounded handle at edge contact point 0, raise the medium mug smooth rounded handle, move to the metallic rack with smooth finish, hook the medium mug smooth rounded handle onto the metallic rack with smooth finish, and release the medium mug smooth rounded handle.", + "Pick up the ceramic mug smooth outside by edge contact point 0, move the ceramic mug smooth outside to the medium rack with protruding rods, hang the ceramic mug smooth outside on the medium rack with protruding rods, and release the ceramic mug smooth outside once it holds.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it from its spot, carry the black mug glossy ceramic material to the rack with two rods sticking out, hang the black mug glossy ceramic material on the rack with two rods sticking out, then release the black mug glossy ceramic material.", + "Get to the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, bring it to the angled rack with long and short rods, hang the medium mug smooth rounded handle on the angled rack with long and short rods, and release.", + "With the arm, reach the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift, align it to the medium rack with protruding rods, hang the black mug glossy ceramic material on the medium rack with protruding rods, then release the black mug glossy ceramic material.", + "Reach the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, carry the ceramic mug smooth outside to the smooth dark gray rack, hang the ceramic mug smooth outside on the smooth dark gray rack, then release the ceramic mug smooth outside.", + "Grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, bring the mug with curved black handle to the smooth dark gray rack, set the mug with curved black handle onto the smooth dark gray rack to hang, and release the mug with curved black handle.", + "With the arm, take the black mug by edge contact point 0, lift the black mug clear, move to the metallic angular rack with rod pair, hook the black mug onto the metallic angular rack with rod pair, then open the grip.", + "Approach the ceramic mug smooth outside, take hold of the ceramic mug smooth outside by edge contact point 0, raise it, bring it to the dark gray rack, hook the ceramic mug smooth outside onto the dark gray rack, and let go.", + "Take the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle up, move the medium mug smooth rounded handle in front of the medium rack with protruding rods, hang the medium mug smooth rounded handle onto the medium rack with protruding rods, then release the medium mug smooth rounded handle.", + "Using the arm, secure the black mug glossy ceramic material by edge contact point 0, lift, align the black mug glossy ceramic material with the smooth dark gray rack, hang the black mug glossy ceramic material on the smooth dark gray rack, and let go.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the black mug glossy ceramic material on the medium rack with protruding rods, and release your grip.", + "Grab the black ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the black ceramic mug on the smooth rack, then release the grip.", + "With the arm, grasp the drinking mug shiny black exterior by edge contact point 0, lift and transport the drinking mug shiny black exterior to the rack with two rods sticking out, hang the drinking mug shiny black exterior on the rack with two rods sticking out, then let go.", + "Have the arm grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, bring it to the smooth dark gray rack, hang the ceramic mug smooth outside from the smooth dark gray rack, then release.", + "Grab the medium black mug with handle at edge contact point 0, lift the medium black mug with handle, move it to the medium rack with protruding rods, hook the medium black mug with handle onto the medium rack with protruding rods, and release the medium black mug with handle.", + "With the arm, take hold of the glossy black mug medium-sized for drinking by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the glossy black mug medium-sized for drinking on the metallic rack with smooth finish, then release.", + "Direct the arm to the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug clear, move to the angled rack with long and short rods, hang the black ceramic mug on the angled rack with long and short rods, release the grip.", + "Hold the black mug with rounded sturdy handle at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the black mug with rounded sturdy handle onto the rack with two rods sticking out to hang, then let go.", + "Bring the arm to the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the palm-sized mug glossy black body on the medium rack with protruding rods, then let go.", + "Move the arm toward the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift it, travel to the metal rack, place the black ceramic mug onto the metal rack to hang, then release." + ], + "unseen": [ + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release the cylindrical drinking mug black color.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go of the cylindrical drinking mug black color.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release the mug for liquids black ceramic body.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go of the rounded mug with glossy shine.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release the rounded mug with glossy shine.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go of the cylindrical drinking mug black color.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release the mug for liquids black ceramic body.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go of the mug for liquids black ceramic body.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release the mug for liquids black ceramic body.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release the mug for liquids black ceramic body.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release the mug for liquids black ceramic body.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release the rounded mug with glossy shine.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go of the rounded mug with glossy shine.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release the rounded mug with glossy shine.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode23.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..f4ca1fffe00916e07a7a8e74bbfa296f74097e36 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the arm to grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move toward the metallic angular rack with rod pair, hang the hand-sized mug with blue artwork on the metallic angular rack with rod pair, then release the hand-sized mug with blue artwork.", + "With the arm, grasp the cylindrical mug with curved handle by edge contact point 0, lift and transport the cylindrical mug with curved handle to the rack with angular body, hang the cylindrical mug with curved handle on the rack with angular body, then let go.", + "Bring the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the medium mug with blue design on the rack with two rods sticking out, then let go.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, align the hand-sized mug with blue artwork with the rack with two rods sticking out, hang the hand-sized mug with blue artwork on the rack with two rods sticking out, release the hand-sized mug with blue artwork.", + "Reach for the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug clear, place the smooth white mug onto the angular rack with slanted support rod to hang, then release the smooth white mug.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring the white mug with glossy finish to the rack with angular body, set the white mug with glossy finish onto the rack with angular body to hang, and release the white mug with glossy finish.", + "Take the mug for drinking liquids by edge contact point 0, lift it off the surface, move it to the metal rack, hang the mug for drinking liquids on the metal rack, and release your grip.", + "Hold the mug with blue print using edge contact point 0, lift the mug with blue print up, bring the mug with blue print to the angled rack with long and short rods, hang the mug with blue print on the angled rack with long and short rods, then release.", + "Use the arm to grab the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move over to the dark gray rack, hang the white ceramic mug with handle on the dark gray rack, and release the white ceramic mug with handle.", + "Reach the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print, carry the mug with blue print to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, then release the mug with blue print.", + "Grab the medium mug with blue design at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the medium mug with blue design on the rack with two rods sticking out, then release the grip.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle up, move the cylindrical mug with curved handle in front of the smooth dark gray rack, hang the cylindrical mug with curved handle onto the smooth dark gray rack, then release the cylindrical mug with curved handle.", + "Grab the white drinking mug with smooth surface at edge contact point 0, pick it up, move it over to the angled rack with long and short rods, hang the white drinking mug with smooth surface onto the angled rack with long and short rods, and release the white drinking mug with smooth surface.", + "With the arm, take the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug clear, move to the rack with two rods sticking out, hook the printed white ceramic mug onto the rack with two rods sticking out, then open the grip.", + "Take the mug with blue print by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the mug with blue print onto the medium rack with protruding rods so it hangs, then let go.", + "Direct the arm to grip the white mug at edge contact point 0, pick the white mug up, carry it to the metallic rack with smooth finish, hang the white mug on the metallic rack with smooth finish, and release.", + "Get to the white mug, grasp the white mug by edge contact point 0, lift the white mug, bring it to the angled rack with long and short rods, hang the white mug on the angled rack with long and short rods, and release.", + "With the arm, approach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, then let go.", + "Direct the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids clear, move to the rack with angular body, hang the mug for drinking liquids on the rack with angular body, release the grip.", + "Using the arm, secure the mug with blue print by edge contact point 0, lift, align the mug with blue print with the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, and let go.", + "Approach the white mug, take hold of the white mug by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the white mug onto the angled rack with long and short rods, and let go.", + "Send the arm to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it, carry the smooth white mug to the metallic angular rack with rod pair, hang the smooth white mug on the metallic angular rack with rod pair, and release the smooth white mug.", + "Move the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift, carry to the smooth rack, hang the mug for drinking liquids on the smooth rack, release the mug for drinking liquids.", + "With the arm, reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift, align it to the smooth rack, hang the cylindrical mug with curved handle on the smooth rack, then release the cylindrical mug with curved handle.", + "Guide the arm to the white mug with glossy finish, grip the white mug with glossy finish by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the white mug with glossy finish on the angled rack with long and short rods, and release.", + "Take the ceramic mug by edge contact point 0, lift it from its spot, carry the ceramic mug to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, then release the ceramic mug.", + "Go to the white mug, grasp the white mug by edge contact point 0, lift it clear, align it with the metal rack, hang the white mug on the metal rack, and let go.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move it over to the angular rack with slanted support rod, hook the white mug with glossy finish onto the angular rack with slanted support rod, and release the white mug with glossy finish.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish up, move the white mug with glossy finish to the dark gray angled rack, hang the white mug with glossy finish on the dark gray angled rack, and let go of the white mug with glossy finish.", + "Grab the ceramic mug at edge contact point 0, lift the ceramic mug, move it to the dark gray rack, hook the ceramic mug onto the dark gray rack, and release the ceramic mug.", + "Pick up the white mug by edge contact point 0, move the white mug to the dark gray rack, hang the white mug on the dark gray rack, and release the white mug once it holds.", + "Using the arm, take the cylindrical mug with curved handle at edge contact point 0, raise the cylindrical mug with curved handle, move to the rack with two rods sticking out, hook the cylindrical mug with curved handle onto the rack with two rods sticking out, and release the cylindrical mug with curved handle.", + "Grab the white mug with glossy finish at edge contact point 0, raise it, guide it to the dark gray rack, set the white mug with glossy finish onto the dark gray rack so it hangs, then release the white mug with glossy finish.", + "Have the arm grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the medium rack with protruding rods, hang the printed white ceramic mug from the medium rack with protruding rods, then release.", + "Grasp the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle from its spot, carry the white ceramic mug with handle to the metallic angular rack with rod pair, hang the white ceramic mug with handle on the metallic angular rack with rod pair, and release.", + "Move the arm toward the white mug with glossy finish, grasp the white mug with glossy finish at edge contact point 0, lift the white mug with glossy finish, carry the white mug with glossy finish to the metallic angular rack with rod pair, hang the white mug with glossy finish on the metallic angular rack with rod pair, release the white mug with glossy finish.", + "With the arm, take hold of the mug for drinking liquids by edge contact point 0, pick it up, bring it to the metal rack, hang the mug for drinking liquids on the metal rack, then release.", + "Hold the mug for drinking liquids at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the mug for drinking liquids onto the rack with two rods sticking out to hang, then let go.", + "Move the arm toward the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the mug with blue print onto the rack with two rods sticking out to hang, then release.", + "Have the arm reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move to the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, then open the grip.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move toward the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, then release the ceramic mug.", + "With the arm, grasp the hand-sized mug with blue artwork by edge contact point 0, lift and transport the hand-sized mug with blue artwork to the angled rack with long and short rods, hang the hand-sized mug with blue artwork on the angled rack with long and short rods, then let go.", + "Bring the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, move to the smooth dark gray rack, hang the hand-sized mug with blue artwork on the smooth dark gray rack, then let go.", + "Guide the arm to the white mug with glossy finish, grip the white mug with glossy finish at edge contact point 0, lift the white mug with glossy finish, align the white mug with glossy finish with the metal rack, hang the white mug with glossy finish on the metal rack, release the white mug with glossy finish.", + "Reach for the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, place the cylindrical mug with curved handle onto the dark gray rack to hang, then release the cylindrical mug with curved handle.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring the ceramic mug to the dark gray angled rack, set the ceramic mug onto the dark gray angled rack to hang, and release the ceramic mug.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the cylindrical mug with curved handle on the rack with angular body, and release your grip.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, then release.", + "Use the arm to grab the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move over to the metal rack, hang the cylindrical mug with curved handle on the metal rack, and release the cylindrical mug with curved handle.", + "Reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, carry the hand-sized mug with blue artwork to the dark gray rack, hang the hand-sized mug with blue artwork on the dark gray rack, then release the hand-sized mug with blue artwork.", + "Grab the white ceramic mug with handle at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the white ceramic mug with handle on the angular rack with slanted support rod, then release the grip.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface up, move the white drinking mug with smooth surface in front of the angled rack with long and short rods, hang the white drinking mug with smooth surface onto the angled rack with long and short rods, then release the white drinking mug with smooth surface.", + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the dark gray rack, hang the ceramic mug onto the dark gray rack, and release the ceramic mug.", + "With the arm, take the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, move to the rack with angular body, hook the cylindrical mug with curved handle onto the rack with angular body, then open the grip.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the white drinking mug with smooth surface onto the smooth dark gray rack so it hangs, then let go.", + "Direct the arm to grip the medium mug with blue design at edge contact point 0, pick the medium mug with blue design up, carry it to the metallic rack with smooth finish, hang the medium mug with blue design on the metallic rack with smooth finish, and release.", + "Get to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the angular rack with slanted support rod, hang the printed white ceramic mug on the angular rack with slanted support rod, and release.", + "With the arm, approach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the dark gray rack, hang the hand-sized mug with blue artwork on the dark gray rack, then let go.", + "Direct the arm to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug clear, move to the smooth rack, hang the printed white ceramic mug on the smooth rack, release the grip.", + "Using the arm, secure the white drinking mug with smooth surface by edge contact point 0, lift, align the white drinking mug with smooth surface with the angular rack with slanted support rod, hang the white drinking mug with smooth surface on the angular rack with slanted support rod, and let go.", + "Approach the printed white ceramic mug, take hold of the printed white ceramic mug by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the printed white ceramic mug onto the metallic angular rack with rod pair, and let go.", + "Send the arm to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it, carry the smooth white mug to the rack with angular body, hang the smooth white mug on the rack with angular body, and release the smooth white mug.", + "Move the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the hand-sized mug with blue artwork on the metallic rack with smooth finish, release the hand-sized mug with blue artwork.", + "With the arm, reach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift, align it to the dark gray angled rack, hang the medium mug with blue design on the dark gray angled rack, then release the medium mug with blue design.", + "Guide the arm to the mug for drinking liquids, grip the mug for drinking liquids by edge contact point 0, pick it up, move to the dark gray angled rack, hang the mug for drinking liquids on the dark gray angled rack, and release.", + "Take the medium mug with blue design by edge contact point 0, lift it from its spot, carry the medium mug with blue design to the dark gray angled rack, hang the medium mug with blue design on the dark gray angled rack, then release the medium mug with blue design.", + "Go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it clear, align it with the smooth rack, hang the ceramic mug on the smooth rack, and let go.", + "Grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move it over to the dark gray angled rack, hook the white ceramic mug with handle onto the dark gray angled rack, and release the white ceramic mug with handle.", + "Grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface up, move the white drinking mug with smooth surface to the smooth rack, hang the white drinking mug with smooth surface on the smooth rack, and let go of the white drinking mug with smooth surface.", + "Grab the mug with blue print at edge contact point 0, lift the mug with blue print, move it to the medium rack with protruding rods, hook the mug with blue print onto the medium rack with protruding rods, and release the mug with blue print.", + "Pick up the white mug with glossy finish by edge contact point 0, move the white mug with glossy finish to the metallic angular rack with rod pair, hang the white mug with glossy finish on the metallic angular rack with rod pair, and release the white mug with glossy finish once it holds.", + "Using the arm, take the white mug at edge contact point 0, raise the white mug, move to the smooth dark gray rack, hook the white mug onto the smooth dark gray rack, and release the white mug.", + "Grab the cylindrical mug with curved handle at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the cylindrical mug with curved handle onto the angular rack with slanted support rod so it hangs, then release the cylindrical mug with curved handle.", + "Have the arm grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the dark gray rack, hang the smooth white mug from the dark gray rack, then release.", + "Grasp the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork from its spot, carry the hand-sized mug with blue artwork to the dark gray rack, hang the hand-sized mug with blue artwork on the dark gray rack, and release.", + "Move the arm toward the white ceramic mug with handle, grasp the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, carry the white ceramic mug with handle to the rack with angular body, hang the white ceramic mug with handle on the rack with angular body, release the white ceramic mug with handle.", + "With the arm, take hold of the hand-sized mug with blue artwork by edge contact point 0, pick it up, bring it to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, then release.", + "Hold the medium mug with blue design at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the medium mug with blue design onto the angled rack with long and short rods to hang, then let go.", + "Move the arm toward the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, travel to the metal rack, place the mug with blue print onto the metal rack to hang, then release.", + "Have the arm reach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move to the medium rack with protruding rods, hang the mug for drinking liquids on the medium rack with protruding rods, then open the grip.", + "Use the arm to grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move toward the angular rack with slanted support rod, hang the medium mug with blue design on the angular rack with slanted support rod, then release the medium mug with blue design.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the angular rack with slanted support rod, hang the white drinking mug with smooth surface on the angular rack with slanted support rod, then let go.", + "Bring the arm to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, move to the dark gray angled rack, hang the printed white ceramic mug on the dark gray angled rack, then let go.", + "Guide the arm to the smooth white mug, grip the smooth white mug at edge contact point 0, lift the smooth white mug, align the smooth white mug with the angular rack with slanted support rod, hang the smooth white mug on the angular rack with slanted support rod, release the smooth white mug.", + "Reach for the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, place the ceramic mug onto the dark gray angled rack to hang, then release the ceramic mug.", + "Grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring the printed white ceramic mug to the metallic rack with smooth finish, set the printed white ceramic mug onto the metallic rack with smooth finish to hang, and release the printed white ceramic mug.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the ceramic mug on the dark gray rack, and release your grip.", + "Hold the smooth white mug using edge contact point 0, lift the smooth white mug up, bring the smooth white mug to the rack with two rods sticking out, hang the smooth white mug on the rack with two rods sticking out, then release.", + "Use the arm to grab the mug with blue print by edge contact point 0, lift the mug with blue print, move over to the dark gray rack, hang the mug with blue print on the dark gray rack, and release the mug with blue print.", + "Reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, carry the smooth white mug to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, then release the smooth white mug.", + "Grab the printed white ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the printed white ceramic mug on the smooth rack, then release the grip.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle up, move the cylindrical mug with curved handle in front of the metallic angular rack with rod pair, hang the cylindrical mug with curved handle onto the metallic angular rack with rod pair, then release the cylindrical mug with curved handle.", + "Grab the medium mug with blue design at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the medium mug with blue design onto the metallic rack with smooth finish, and release the medium mug with blue design.", + "With the arm, take the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork clear, move to the dark gray rack, hook the hand-sized mug with blue artwork onto the dark gray rack, then open the grip.", + "Take the mug with blue print by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the mug with blue print onto the dark gray angled rack so it hangs, then let go.", + "Direct the arm to grip the white mug with glossy finish at edge contact point 0, pick the white mug with glossy finish up, carry it to the dark gray rack, hang the white mug with glossy finish on the dark gray rack, and release.", + "Get to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, bring it to the angled rack with long and short rods, hang the cylindrical mug with curved handle on the angled rack with long and short rods, and release.", + "With the arm, approach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the metal rack, hang the smooth white mug on the metal rack, then let go.", + "Direct the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork clear, move to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, release the grip.", + "Using the arm, secure the ceramic mug by edge contact point 0, lift, align the ceramic mug with the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, and let go." + ], + "unseen": [ + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode24.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..a735aff4c6c2095a27e3babd8e7b7885df1e6851 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the hand-sized black mug by edge contact point 0, move the hand-sized black mug to the medium rack with protruding rods, hang the hand-sized black mug on the medium rack with protruding rods, and release the hand-sized black mug once it holds.", + "Hold the cylindrical black mug at edge contact point 0, lift it up, move toward the angular rack with slanted support rod, place the cylindrical black mug onto the angular rack with slanted support rod to hang, then let go.", + "Hold the smooth black ceramic mug using edge contact point 0, lift the smooth black ceramic mug up, bring the smooth black ceramic mug to the smooth rack, hang the smooth black ceramic mug on the smooth rack, then release.", + "With the arm, approach the drinking mug, grasp the drinking mug by edge contact point 0, lift the drinking mug, bring it to the metallic angular rack with rod pair, hang the drinking mug on the metallic angular rack with rod pair, then let go.", + "Move the arm to the drinking mug, grasp the drinking mug by edge contact point 0, lift, carry to the dark gray rack, hang the drinking mug on the dark gray rack, release the drinking mug.", + "Reach for the black mug, grasp the black mug by edge contact point 0, lift the black mug clear, place the black mug onto the medium rack with protruding rods to hang, then release the black mug.", + "Guide the arm to the smooth black ceramic mug, grip the smooth black ceramic mug at edge contact point 0, lift the smooth black ceramic mug, align the smooth black ceramic mug with the metallic rack with smooth finish, hang the smooth black ceramic mug on the metallic rack with smooth finish, release the smooth black ceramic mug.", + "Move the arm toward the mug with thick sturdy handle, grasp the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, carry the mug with thick sturdy handle to the smooth dark gray rack, hang the mug with thick sturdy handle on the smooth dark gray rack, release the mug with thick sturdy handle.", + "Grab the mug with thick sturdy handle at edge contact point 0, raise it, guide it to the rack with angular body, set the mug with thick sturdy handle onto the rack with angular body so it hangs, then release the mug with thick sturdy handle.", + "Take the smooth black ceramic mug by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the smooth black ceramic mug onto the metallic angular rack with rod pair so it hangs, then let go.", + "Have the arm reach the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move to the rack with two rods sticking out, hang the hand-sized black mug on the rack with two rods sticking out, then open the grip.", + "Guide the arm to the smooth black ceramic mug, grip the smooth black ceramic mug by edge contact point 0, pick it up, move to the smooth rack, hang the smooth black ceramic mug on the smooth rack, and release.", + "Take the black mug for liquids by edge contact point 0, lift the black mug for liquids up, move the black mug for liquids in front of the dark gray rack, hang the black mug for liquids onto the dark gray rack, then release the black mug for liquids.", + "Grab the solid black ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the solid black ceramic mug on the smooth rack, then release the grip.", + "Grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, move it over to the smooth rack, hook the cylindrical black mug onto the smooth rack, and release the cylindrical black mug.", + "Take the black coffee mug by edge contact point 0, lift it from its spot, carry the black coffee mug to the metal rack, hang the black coffee mug on the metal rack, then release the black coffee mug.", + "Reach the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, carry the cylindrical black mug to the medium rack with protruding rods, hang the cylindrical black mug on the medium rack with protruding rods, then release the cylindrical black mug.", + "With the arm, grasp the black mug for liquids by edge contact point 0, lift and transport the black mug for liquids to the angular rack with slanted support rod, hang the black mug for liquids on the angular rack with slanted support rod, then let go.", + "Take the black mug with smooth surface by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the black mug with smooth surface on the rack with angular body, and release your grip.", + "Grasp the smooth black ceramic mug at edge contact point 0, lift the smooth black ceramic mug from its spot, carry the smooth black ceramic mug to the rack with angular body, hang the smooth black ceramic mug on the rack with angular body, and release.", + "With the arm, take hold of the black mug with handle by edge contact point 0, pick it up, bring it to the metal rack, hang the black mug with handle on the metal rack, then release.", + "Direct the arm to grip the black mug with handle at edge contact point 0, pick the black mug with handle up, carry it to the angular rack with slanted support rod, hang the black mug with handle on the angular rack with slanted support rod, and release.", + "Approach the black mug with smooth surface, take hold of the black mug with smooth surface by edge contact point 0, raise it, bring it to the metal rack, hook the black mug with smooth surface onto the metal rack, and let go.", + "Grab the black mug for liquids at edge contact point 0, lift the black mug for liquids, move it to the smooth rack, hook the black mug for liquids onto the smooth rack, and release the black mug for liquids.", + "Using the arm, take the hand-sized black mug at edge contact point 0, raise the hand-sized black mug, move to the dark gray rack, hook the hand-sized black mug onto the dark gray rack, and release the hand-sized black mug.", + "Bring the arm to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift it, move to the smooth dark gray rack, hang the black mug with smooth surface on the smooth dark gray rack, then let go.", + "Send the arm to the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift it, carry the smooth black ceramic mug to the rack with angular body, hang the smooth black ceramic mug on the rack with angular body, and release the smooth black ceramic mug.", + "Move the arm toward the black mug, grasp the black mug by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the black mug onto the metallic angular rack with rod pair to hang, then release.", + "Grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring the black mug for liquids to the dark gray angled rack, set the black mug for liquids onto the dark gray angled rack to hang, and release the black mug for liquids.", + "Grab the smooth black ceramic mug at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the smooth black ceramic mug onto the dark gray angled rack, and release the smooth black ceramic mug.", + "Use the arm to grab the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, move over to the dark gray rack, hang the cylindrical black mug on the dark gray rack, and release the cylindrical black mug.", + "Using the arm, secure the drinking mug by edge contact point 0, lift, align the drinking mug with the smooth dark gray rack, hang the drinking mug on the smooth dark gray rack, and let go.", + "Use the arm to grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move toward the metallic angular rack with rod pair, hang the smooth black ceramic mug on the metallic angular rack with rod pair, then release the smooth black ceramic mug.", + "Have the arm grasp the black coffee mug by edge contact point 0, lift the black coffee mug, bring it to the metallic angular rack with rod pair, hang the black coffee mug from the metallic angular rack with rod pair, then release.", + "Go to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the black mug with handle on the smooth dark gray rack, and let go.", + "Get to the black mug, grasp the black mug by edge contact point 0, lift the black mug, bring it to the rack with two rods sticking out, hang the black mug on the rack with two rods sticking out, and release.", + "With the arm, reach the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift, align it to the rack with angular body, hang the cylindrical black mug on the rack with angular body, then release the cylindrical black mug.", + "Grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug up, move the solid black ceramic mug to the rack with angular body, hang the solid black ceramic mug on the rack with angular body, and let go of the solid black ceramic mug.", + "Direct the arm to the drinking mug, grasp the drinking mug by edge contact point 0, lift the drinking mug clear, move to the dark gray rack, hang the drinking mug on the dark gray rack, release the grip.", + "With the arm, take the black mug by edge contact point 0, lift the black mug clear, move to the dark gray rack, hook the black mug onto the dark gray rack, then open the grip.", + "Pick up the mug with rounded handle by edge contact point 0, move the mug with rounded handle to the rack with two rods sticking out, hang the mug with rounded handle on the rack with two rods sticking out, and release the mug with rounded handle once it holds.", + "Hold the mug with rounded handle at edge contact point 0, lift it up, move toward the metal rack, place the mug with rounded handle onto the metal rack to hang, then let go.", + "Hold the black mug with handle using edge contact point 0, lift the black mug with handle up, bring the black mug with handle to the angled rack with long and short rods, hang the black mug with handle on the angled rack with long and short rods, then release.", + "With the arm, approach the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring it to the angular rack with slanted support rod, hang the mug with thick sturdy handle on the angular rack with slanted support rod, then let go.", + "Move the arm to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift, carry to the smooth rack, hang the hand-sized black mug on the smooth rack, release the hand-sized black mug.", + "Reach for the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug clear, place the smooth black ceramic mug onto the metal rack to hang, then release the smooth black ceramic mug.", + "Guide the arm to the black mug with handle, grip the black mug with handle at edge contact point 0, lift the black mug with handle, align the black mug with handle with the smooth rack, hang the black mug with handle on the smooth rack, release the black mug with handle.", + "Move the arm toward the solid black ceramic mug, grasp the solid black ceramic mug at edge contact point 0, lift the solid black ceramic mug, carry the solid black ceramic mug to the rack with two rods sticking out, hang the solid black ceramic mug on the rack with two rods sticking out, release the solid black ceramic mug.", + "Grab the mug with rounded handle at edge contact point 0, raise it, guide it to the metallic rack with smooth finish, set the mug with rounded handle onto the metallic rack with smooth finish so it hangs, then release the mug with rounded handle.", + "Take the black mug by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the black mug onto the rack with two rods sticking out so it hangs, then let go.", + "Have the arm reach the black mug with handle, grasp the black mug with handle by edge contact point 0, lift the black mug with handle, move to the smooth rack, hang the black mug with handle on the smooth rack, then open the grip.", + "Guide the arm to the black mug for liquids, grip the black mug for liquids by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the black mug for liquids on the metallic angular rack with rod pair, and release.", + "Take the black mug for liquids by edge contact point 0, lift the black mug for liquids up, move the black mug for liquids in front of the metal rack, hang the black mug for liquids onto the metal rack, then release the black mug for liquids.", + "Grab the black mug for liquids at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the black mug for liquids on the angled rack with long and short rods, then release the grip.", + "Grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move it over to the metallic angular rack with rod pair, hook the smooth black ceramic mug onto the metallic angular rack with rod pair, and release the smooth black ceramic mug.", + "Take the black mug with smooth surface by edge contact point 0, lift it from its spot, carry the black mug with smooth surface to the metal rack, hang the black mug with smooth surface on the metal rack, then release the black mug with smooth surface.", + "Reach the black mug, grasp the black mug by edge contact point 0, lift the black mug, carry the black mug to the metallic rack with smooth finish, hang the black mug on the metallic rack with smooth finish, then release the black mug.", + "With the arm, grasp the black coffee mug by edge contact point 0, lift and transport the black coffee mug to the smooth rack, hang the black coffee mug on the smooth rack, then let go.", + "Take the black coffee mug by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the black coffee mug on the metallic angular rack with rod pair, and release your grip.", + "Grasp the cylindrical black mug at edge contact point 0, lift the cylindrical black mug from its spot, carry the cylindrical black mug to the metallic rack with smooth finish, hang the cylindrical black mug on the metallic rack with smooth finish, and release.", + "With the arm, take hold of the mug with rounded handle by edge contact point 0, pick it up, bring it to the rack with angular body, hang the mug with rounded handle on the rack with angular body, then release.", + "Direct the arm to grip the mug with thick sturdy handle at edge contact point 0, pick the mug with thick sturdy handle up, carry it to the metallic rack with smooth finish, hang the mug with thick sturdy handle on the metallic rack with smooth finish, and release.", + "Approach the black mug with smooth surface, take hold of the black mug with smooth surface by edge contact point 0, raise it, bring it to the metal rack, hook the black mug with smooth surface onto the metal rack, and let go.", + "Grab the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, move it to the angled rack with long and short rods, hook the mug with thick sturdy handle onto the angled rack with long and short rods, and release the mug with thick sturdy handle.", + "Using the arm, take the black coffee mug at edge contact point 0, raise the black coffee mug, move to the rack with two rods sticking out, hook the black coffee mug onto the rack with two rods sticking out, and release the black coffee mug.", + "Bring the arm to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift it, move to the rack with angular body, hang the black mug with handle on the rack with angular body, then let go.", + "Send the arm to the solid black ceramic mug, grasp the solid black ceramic mug by edge contact point 0, lift it, carry the solid black ceramic mug to the smooth dark gray rack, hang the solid black ceramic mug on the smooth dark gray rack, and release the solid black ceramic mug.", + "Move the arm toward the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the black mug for liquids onto the metallic rack with smooth finish to hang, then release.", + "Grasp the black mug with handle by edge contact point 0, lift the black mug with handle, bring the black mug with handle to the medium rack with protruding rods, set the black mug with handle onto the medium rack with protruding rods to hang, and release the black mug with handle.", + "Grab the mug with thick sturdy handle at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the mug with thick sturdy handle onto the angular rack with slanted support rod, and release the mug with thick sturdy handle.", + "Use the arm to grab the drinking mug by edge contact point 0, lift the drinking mug, move over to the metal rack, hang the drinking mug on the metal rack, and release the drinking mug.", + "Using the arm, secure the smooth black ceramic mug by edge contact point 0, lift, align the smooth black ceramic mug with the dark gray angled rack, hang the smooth black ceramic mug on the dark gray angled rack, and let go.", + "Use the arm to grasp the black coffee mug by edge contact point 0, lift the black coffee mug, move toward the medium rack with protruding rods, hang the black coffee mug on the medium rack with protruding rods, then release the black coffee mug.", + "Have the arm grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring it to the medium rack with protruding rods, hang the mug with thick sturdy handle from the medium rack with protruding rods, then release.", + "Go to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift it clear, align it with the rack with angular body, hang the black mug with smooth surface on the rack with angular body, and let go.", + "Get to the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring it to the metallic rack with smooth finish, hang the mug with thick sturdy handle on the metallic rack with smooth finish, and release.", + "With the arm, reach the black coffee mug, grasp the black coffee mug by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the black coffee mug on the rack with two rods sticking out, then release the black coffee mug.", + "Grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle up, move the mug with thick sturdy handle to the dark gray rack, hang the mug with thick sturdy handle on the dark gray rack, and let go of the mug with thick sturdy handle.", + "Direct the arm to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift the black mug with handle clear, move to the metallic angular rack with rod pair, hang the black mug with handle on the metallic angular rack with rod pair, release the grip.", + "With the arm, take the black mug by edge contact point 0, lift the black mug clear, move to the smooth rack, hook the black mug onto the smooth rack, then open the grip.", + "Pick up the hand-sized black mug by edge contact point 0, move the hand-sized black mug to the metallic angular rack with rod pair, hang the hand-sized black mug on the metallic angular rack with rod pair, and release the hand-sized black mug once it holds.", + "Hold the smooth black ceramic mug at edge contact point 0, lift it up, move toward the metallic angular rack with rod pair, place the smooth black ceramic mug onto the metallic angular rack with rod pair to hang, then let go.", + "Hold the black mug with smooth surface using edge contact point 0, lift the black mug with smooth surface up, bring the black mug with smooth surface to the metallic angular rack with rod pair, hang the black mug with smooth surface on the metallic angular rack with rod pair, then release.", + "With the arm, approach the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring it to the rack with angular body, hang the mug with thick sturdy handle on the rack with angular body, then let go.", + "Move the arm to the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the smooth black ceramic mug on the metallic rack with smooth finish, release the smooth black ceramic mug.", + "Reach for the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, place the mug with rounded handle onto the dark gray rack to hang, then release the mug with rounded handle.", + "Guide the arm to the hand-sized black mug, grip the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, align the hand-sized black mug with the metal rack, hang the hand-sized black mug on the metal rack, release the hand-sized black mug.", + "Move the arm toward the drinking mug, grasp the drinking mug at edge contact point 0, lift the drinking mug, carry the drinking mug to the metallic rack with smooth finish, hang the drinking mug on the metallic rack with smooth finish, release the drinking mug.", + "Grab the cylindrical black mug at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the cylindrical black mug onto the rack with two rods sticking out so it hangs, then release the cylindrical black mug.", + "Take the solid black ceramic mug by edge contact point 0, lift it, bring it over to the rack with angular body, place the solid black ceramic mug onto the rack with angular body so it hangs, then let go.", + "Have the arm reach the black coffee mug, grasp the black coffee mug by edge contact point 0, lift the black coffee mug, move to the rack with angular body, hang the black coffee mug on the rack with angular body, then open the grip.", + "Guide the arm to the mug with rounded handle, grip the mug with rounded handle by edge contact point 0, pick it up, move to the metal rack, hang the mug with rounded handle on the metal rack, and release.", + "Take the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug up, move the smooth black ceramic mug in front of the angled rack with long and short rods, hang the smooth black ceramic mug onto the angled rack with long and short rods, then release the smooth black ceramic mug.", + "Grab the smooth black ceramic mug at edge contact point 0, lift it, bring it to the dark gray rack, hang the smooth black ceramic mug on the dark gray rack, then release the grip.", + "Grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, move it over to the angular rack with slanted support rod, hook the black mug with smooth surface onto the angular rack with slanted support rod, and release the black mug with smooth surface.", + "Take the smooth black ceramic mug by edge contact point 0, lift it from its spot, carry the smooth black ceramic mug to the smooth dark gray rack, hang the smooth black ceramic mug on the smooth dark gray rack, then release the smooth black ceramic mug.", + "Reach the black mug, grasp the black mug by edge contact point 0, lift the black mug, carry the black mug to the metallic angular rack with rod pair, hang the black mug on the metallic angular rack with rod pair, then release the black mug.", + "With the arm, grasp the black mug for liquids by edge contact point 0, lift and transport the black mug for liquids to the dark gray rack, hang the black mug for liquids on the dark gray rack, then let go.", + "Take the hand-sized black mug by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the hand-sized black mug on the smooth dark gray rack, and release your grip.", + "Grasp the black mug at edge contact point 0, lift the black mug from its spot, carry the black mug to the dark gray rack, hang the black mug on the dark gray rack, and release." + ], + "unseen": [ + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium black mug on the medium-sized rack, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium black mug on the medium-sized rack, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium black mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode25.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..38b5491e4101bd2a18d1953141ed0fc677813c23 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the light brown cylindrical mug at edge contact point 0, lift the light brown cylindrical mug, move it to the angular rack with slanted support rod, hook the light brown cylindrical mug onto the angular rack with slanted support rod, and release the light brown cylindrical mug.", + "Go to the light brown cylindrical mug, grasp the light brown cylindrical mug by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the light brown cylindrical mug on the rack with two rods sticking out, and let go.", + "Using the arm, secure the brown mug for drinking by edge contact point 0, lift, align the brown mug for drinking with the metallic angular rack with rod pair, hang the brown mug for drinking on the metallic angular rack with rod pair, and let go.", + "Pick up the mug with curved handle by edge contact point 0, move the mug with curved handle to the metal rack, hang the mug with curved handle on the metal rack, and release the mug with curved handle once it holds.", + "Take the brown medium-sized ceramic mug by edge contact point 0, lift it from its spot, carry the brown medium-sized ceramic mug to the metal rack, hang the brown medium-sized ceramic mug on the metal rack, then release the brown medium-sized ceramic mug.", + "Have the arm reach the light brown cylindrical mug, grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug, move to the metallic angular rack with rod pair, hang the light brown cylindrical mug on the metallic angular rack with rod pair, then open the grip.", + "Reach for the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body clear, place the drinking mug with smooth body onto the dark gray rack to hang, then release the drinking mug with smooth body.", + "Use the arm to grab the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug, move over to the metallic rack with smooth finish, hang the brown medium-sized ceramic mug on the metallic rack with smooth finish, and release the brown medium-sized ceramic mug.", + "Send the arm to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift it, carry the medium-sized mug to the angled rack with long and short rods, hang the medium-sized mug on the angled rack with long and short rods, and release the medium-sized mug.", + "With the arm, grasp the medium-sized mug by edge contact point 0, lift and transport the medium-sized mug to the angled rack with long and short rods, hang the medium-sized mug on the angled rack with long and short rods, then let go.", + "Take the light brown cylindrical mug by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the light brown cylindrical mug onto the dark gray angled rack so it hangs, then let go.", + "Grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug, move it over to the rack with angular body, hook the light brown cylindrical mug onto the rack with angular body, and release the light brown cylindrical mug.", + "With the arm, take hold of the light brown cylindrical mug by edge contact point 0, pick it up, bring it to the rack with angular body, hang the light brown cylindrical mug on the rack with angular body, then release.", + "Use the arm to grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body, move toward the smooth dark gray rack, hang the drinking mug with smooth body on the smooth dark gray rack, then release the drinking mug with smooth body.", + "Move the arm toward the mug for holding liquid, grasp the mug for holding liquid at edge contact point 0, lift the mug for holding liquid, carry the mug for holding liquid to the dark gray rack, hang the mug for holding liquid on the dark gray rack, release the mug for holding liquid.", + "Take the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body up, move the drinking mug with smooth body in front of the medium rack with protruding rods, hang the drinking mug with smooth body onto the medium rack with protruding rods, then release the drinking mug with smooth body.", + "With the arm, reach the brown medium-sized ceramic mug, grasp the brown medium-sized ceramic mug by edge contact point 0, lift, align it to the dark gray angled rack, hang the brown medium-sized ceramic mug on the dark gray angled rack, then release the brown medium-sized ceramic mug.", + "Grab the mug for holding liquid at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the mug for holding liquid on the dark gray angled rack, then release the grip.", + "Direct the arm to grip the mug for holding liquid at edge contact point 0, pick the mug for holding liquid up, carry it to the angular rack with slanted support rod, hang the mug for holding liquid on the angular rack with slanted support rod, and release.", + "Using the arm, take the light brown mug at edge contact point 0, raise the light brown mug, move to the dark gray rack, hook the light brown mug onto the dark gray rack, and release the light brown mug.", + "Move the arm to the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift, carry to the smooth dark gray rack, hang the drinking mug with smooth body on the smooth dark gray rack, release the drinking mug with smooth body.", + "Direct the arm to the brown mug, grasp the brown mug by edge contact point 0, lift the brown mug clear, move to the metallic rack with smooth finish, hang the brown mug on the metallic rack with smooth finish, release the grip.", + "Guide the arm to the light brown mug with handle, grip the light brown mug with handle by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the light brown mug with handle on the metallic rack with smooth finish, and release.", + "Take the mug with curved handle by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the mug with curved handle on the rack with angular body, and release your grip.", + "With the arm, take the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body clear, move to the dark gray angled rack, hook the drinking mug with smooth body onto the dark gray angled rack, then open the grip.", + "Approach the brown medium-sized ceramic mug, take hold of the brown medium-sized ceramic mug by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the brown medium-sized ceramic mug onto the metallic angular rack with rod pair, and let go.", + "Grasp the hand-held ceramic mug at edge contact point 0, lift the hand-held ceramic mug from its spot, carry the hand-held ceramic mug to the smooth dark gray rack, hang the hand-held ceramic mug on the smooth dark gray rack, and release.", + "Guide the arm to the hand-held ceramic mug, grip the hand-held ceramic mug at edge contact point 0, lift the hand-held ceramic mug, align the hand-held ceramic mug with the smooth rack, hang the hand-held ceramic mug on the smooth rack, release the hand-held ceramic mug.", + "Grab the mug for holding liquid at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the mug for holding liquid onto the smooth dark gray rack so it hangs, then release the mug for holding liquid.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, then release.", + "Bring the arm to the brown mug, grasp the brown mug by edge contact point 0, lift it, move to the smooth rack, hang the brown mug on the smooth rack, then let go.", + "With the arm, approach the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, bring it to the smooth dark gray rack, hang the hand-held ceramic mug on the smooth dark gray rack, then let go.", + "Grab the brown mug for drinking at edge contact point 0, pick it up, move it over to the smooth rack, hang the brown mug for drinking onto the smooth rack, and release the brown mug for drinking.", + "Reach the light brown mug, grasp the light brown mug by edge contact point 0, lift the light brown mug, carry the light brown mug to the dark gray rack, hang the light brown mug on the dark gray rack, then release the light brown mug.", + "Move the arm toward the light brown mug, grasp the light brown mug by edge contact point 0, lift it, travel to the dark gray rack, place the light brown mug onto the dark gray rack to hang, then release.", + "Grasp the light brown mug by edge contact point 0, lift the light brown mug, bring the light brown mug to the metallic angular rack with rod pair, set the light brown mug onto the metallic angular rack with rod pair to hang, and release the light brown mug.", + "Grasp the brown mug by edge contact point 0, lift the brown mug up, move the brown mug to the metallic angular rack with rod pair, hang the brown mug on the metallic angular rack with rod pair, and let go of the brown mug.", + "Get to the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, bring it to the rack with angular body, hang the light brown mug with handle on the rack with angular body, and release.", + "Have the arm grasp the light brown mug by edge contact point 0, lift the light brown mug, bring it to the medium rack with protruding rods, hang the light brown mug from the medium rack with protruding rods, then release.", + "Hold the brown medium-sized ceramic mug at edge contact point 0, lift it up, move toward the dark gray angled rack, place the brown medium-sized ceramic mug onto the dark gray angled rack to hang, then let go.", + "Grab the medium-sized mug at edge contact point 0, lift the medium-sized mug, move it to the angled rack with long and short rods, hook the medium-sized mug onto the angled rack with long and short rods, and release the medium-sized mug.", + "Go to the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift it clear, align it with the rack with angular body, hang the mug for holding liquid on the rack with angular body, and let go.", + "Using the arm, secure the brown mug by edge contact point 0, lift, align the brown mug with the angular rack with slanted support rod, hang the brown mug on the angular rack with slanted support rod, and let go.", + "Pick up the mug for holding liquid by edge contact point 0, move the mug for holding liquid to the smooth rack, hang the mug for holding liquid on the smooth rack, and release the mug for holding liquid once it holds.", + "Take the brown mug for drinking by edge contact point 0, lift it from its spot, carry the brown mug for drinking to the dark gray rack, hang the brown mug for drinking on the dark gray rack, then release the brown mug for drinking.", + "Have the arm reach the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move to the smooth dark gray rack, hang the hand-held ceramic mug on the smooth dark gray rack, then open the grip.", + "Reach for the light brown cylindrical mug, grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug clear, place the light brown cylindrical mug onto the angular rack with slanted support rod to hang, then release the light brown cylindrical mug.", + "Use the arm to grab the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move over to the metallic rack with smooth finish, hang the hand-held ceramic mug on the metallic rack with smooth finish, and release the hand-held ceramic mug.", + "Send the arm to the brown mug, grasp the brown mug by edge contact point 0, lift it, carry the brown mug to the rack with angular body, hang the brown mug on the rack with angular body, and release the brown mug.", + "With the arm, grasp the mug for holding liquid by edge contact point 0, lift and transport the mug for holding liquid to the metallic angular rack with rod pair, hang the mug for holding liquid on the metallic angular rack with rod pair, then let go.", + "Take the light brown mug with handle by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the light brown mug with handle onto the metallic angular rack with rod pair so it hangs, then let go.", + "Grasp the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug, move it over to the dark gray angled rack, hook the brown medium-sized ceramic mug onto the dark gray angled rack, and release the brown medium-sized ceramic mug.", + "With the arm, take hold of the medium-sized mug by edge contact point 0, pick it up, bring it to the rack with angular body, hang the medium-sized mug on the rack with angular body, then release.", + "Use the arm to grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, move toward the medium rack with protruding rods, hang the medium-sized mug on the medium rack with protruding rods, then release the medium-sized mug.", + "Move the arm toward the brown medium-sized ceramic mug, grasp the brown medium-sized ceramic mug at edge contact point 0, lift the brown medium-sized ceramic mug, carry the brown medium-sized ceramic mug to the dark gray rack, hang the brown medium-sized ceramic mug on the dark gray rack, release the brown medium-sized ceramic mug.", + "Take the light brown mug with handle by edge contact point 0, lift the light brown mug with handle up, move the light brown mug with handle in front of the dark gray rack, hang the light brown mug with handle onto the dark gray rack, then release the light brown mug with handle.", + "With the arm, reach the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the medium-sized mug on the angled rack with long and short rods, then release the medium-sized mug.", + "Grab the brown mug for drinking at edge contact point 0, lift it, bring it to the dark gray rack, hang the brown mug for drinking on the dark gray rack, then release the grip.", + "Direct the arm to grip the light brown mug at edge contact point 0, pick the light brown mug up, carry it to the dark gray angled rack, hang the light brown mug on the dark gray angled rack, and release.", + "Using the arm, take the brown mug at edge contact point 0, raise the brown mug, move to the angular rack with slanted support rod, hook the brown mug onto the angular rack with slanted support rod, and release the brown mug.", + "Move the arm to the light brown cylindrical mug, grasp the light brown cylindrical mug by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the light brown cylindrical mug on the metallic rack with smooth finish, release the light brown cylindrical mug.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, release the grip.", + "Guide the arm to the brown mug for drinking, grip the brown mug for drinking by edge contact point 0, pick it up, move to the dark gray angled rack, hang the brown mug for drinking on the dark gray angled rack, and release.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release your grip.", + "With the arm, take the brown mug by edge contact point 0, lift the brown mug clear, move to the dark gray rack, hook the brown mug onto the dark gray rack, then open the grip.", + "Approach the mug for holding liquid, take hold of the mug for holding liquid by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the mug for holding liquid onto the angular rack with slanted support rod, and let go.", + "Grasp the light brown mug with handle at edge contact point 0, lift the light brown mug with handle from its spot, carry the light brown mug with handle to the smooth rack, hang the light brown mug with handle on the smooth rack, and release.", + "Guide the arm to the light brown cylindrical mug, grip the light brown cylindrical mug at edge contact point 0, lift the light brown cylindrical mug, align the light brown cylindrical mug with the smooth rack, hang the light brown cylindrical mug on the smooth rack, release the light brown cylindrical mug.", + "Grab the light brown cylindrical mug at edge contact point 0, raise it, guide it to the smooth rack, set the light brown cylindrical mug onto the smooth rack so it hangs, then release the light brown cylindrical mug.", + "Hold the medium-sized mug using edge contact point 0, lift the medium-sized mug up, bring the medium-sized mug to the angular rack with slanted support rod, hang the medium-sized mug on the angular rack with slanted support rod, then release.", + "Bring the arm to the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift it, move to the rack with angular body, hang the mug for holding liquid on the rack with angular body, then let go.", + "With the arm, approach the brown mug, grasp the brown mug by edge contact point 0, lift the brown mug, bring it to the smooth dark gray rack, hang the brown mug on the smooth dark gray rack, then let go.", + "Grab the mug for holding liquid at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the mug for holding liquid onto the metallic angular rack with rod pair, and release the mug for holding liquid.", + "Reach the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, carry the medium-sized mug to the rack with angular body, hang the medium-sized mug on the rack with angular body, then release the medium-sized mug.", + "Move the arm toward the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift it, travel to the dark gray rack, place the drinking mug with smooth body onto the dark gray rack to hang, then release.", + "Grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle, bring the mug with curved handle to the metallic rack with smooth finish, set the mug with curved handle onto the metallic rack with smooth finish to hang, and release the mug with curved handle.", + "Grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug up, move the medium-sized mug to the smooth rack, hang the medium-sized mug on the smooth rack, and let go of the medium-sized mug.", + "Get to the brown mug, grasp the brown mug by edge contact point 0, lift the brown mug, bring it to the metallic angular rack with rod pair, hang the brown mug on the metallic angular rack with rod pair, and release.", + "Have the arm grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, bring it to the medium rack with protruding rods, hang the medium-sized mug from the medium rack with protruding rods, then release.", + "Hold the light brown mug at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the light brown mug onto the angled rack with long and short rods to hang, then let go.", + "Grab the light brown mug at edge contact point 0, lift the light brown mug, move it to the metallic angular rack with rod pair, hook the light brown mug onto the metallic angular rack with rod pair, and release the light brown mug.", + "Go to the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift it clear, align it with the smooth rack, hang the brown mug for drinking on the smooth rack, and let go.", + "Using the arm, secure the brown mug for drinking by edge contact point 0, lift, align the brown mug for drinking with the medium rack with protruding rods, hang the brown mug for drinking on the medium rack with protruding rods, and let go.", + "Pick up the hand-held ceramic mug by edge contact point 0, move the hand-held ceramic mug to the dark gray angled rack, hang the hand-held ceramic mug on the dark gray angled rack, and release the hand-held ceramic mug once it holds.", + "Take the ceramic mug by edge contact point 0, lift it from its spot, carry the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, then release the ceramic mug.", + "Have the arm reach the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, move to the angular rack with slanted support rod, hang the light brown mug with handle on the angular rack with slanted support rod, then open the grip.", + "Reach for the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, place the ceramic mug onto the medium rack with protruding rods to hang, then release the ceramic mug.", + "Use the arm to grab the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move over to the dark gray angled rack, hang the hand-held ceramic mug on the dark gray angled rack, and release the hand-held ceramic mug.", + "Send the arm to the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift it, carry the brown mug for drinking to the metallic rack with smooth finish, hang the brown mug for drinking on the metallic rack with smooth finish, and release the brown mug for drinking.", + "With the arm, grasp the mug for holding liquid by edge contact point 0, lift and transport the mug for holding liquid to the smooth rack, hang the mug for holding liquid on the smooth rack, then let go.", + "Take the medium-sized mug by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the medium-sized mug onto the angled rack with long and short rods so it hangs, then let go.", + "Grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move it over to the metal rack, hook the hand-held ceramic mug onto the metal rack, and release the hand-held ceramic mug.", + "With the arm, take hold of the hand-held ceramic mug by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the hand-held ceramic mug on the metallic rack with smooth finish, then release.", + "Use the arm to grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move toward the rack with angular body, hang the hand-held ceramic mug on the rack with angular body, then release the hand-held ceramic mug.", + "Move the arm toward the drinking mug with smooth body, grasp the drinking mug with smooth body at edge contact point 0, lift the drinking mug with smooth body, carry the drinking mug with smooth body to the metallic rack with smooth finish, hang the drinking mug with smooth body on the metallic rack with smooth finish, release the drinking mug with smooth body.", + "Take the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug up, move the brown medium-sized ceramic mug in front of the rack with angular body, hang the brown medium-sized ceramic mug onto the rack with angular body, then release the brown medium-sized ceramic mug.", + "With the arm, reach the brown mug, grasp the brown mug by edge contact point 0, lift, align it to the rack with angular body, hang the brown mug on the rack with angular body, then release the brown mug.", + "Grab the brown mug for drinking at edge contact point 0, lift it, bring it to the metal rack, hang the brown mug for drinking on the metal rack, then release the grip.", + "Direct the arm to grip the mug for holding liquid at edge contact point 0, pick the mug for holding liquid up, carry it to the metallic rack with smooth finish, hang the mug for holding liquid on the metallic rack with smooth finish, and release.", + "Using the arm, take the ceramic mug at edge contact point 0, raise the ceramic mug, move to the smooth rack, hook the ceramic mug onto the smooth rack, and release the ceramic mug." + ], + "unseen": [ + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the smooth ceramic mug on the medium-sized rack, then let go.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go of the mug with smooth texture.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release the mug with smooth texture.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go of the smooth ceramic mug.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release the smooth ceramic mug.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go of the smooth ceramic mug.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release the mug with smooth texture.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and let go of the cylindrical mug.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the smooth ceramic mug on the medium-sized rack, then let go.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release the mug with smooth texture.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go of the mug with smooth texture.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release the smooth ceramic mug.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go of the smooth ceramic mug.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release the cylindrical mug.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go of the cylindrical mug.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release the smooth ceramic mug.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go of the smooth ceramic mug.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release the cylindrical mug.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go of the smooth ceramic mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release the mug with smooth texture.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release the mug with smooth texture.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with smooth texture on the medium-sized rack, then let go.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode26.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..34b606050bdd81be19301b6d86845c7ec9c1ff2e --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Get to the mug with handle, grasp the mug with handle by edge contact point 0, lift the mug with handle, bring it to the metal rack, hang the mug with handle on the metal rack, and release.", + "Take the cylindrical blue mug by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the cylindrical blue mug onto the rack with two rods sticking out so it hangs, then let go.", + "Reach for the blue mug, grasp the blue mug by edge contact point 0, lift the blue mug clear, place the blue mug onto the metallic rack with smooth finish to hang, then release the blue mug.", + "Have the arm reach the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug, move to the angular rack with slanted support rod, hang the medium-sized drinking mug on the angular rack with slanted support rod, then open the grip.", + "Direct the arm to grip the mug with handle at edge contact point 0, pick the mug with handle up, carry it to the dark gray rack, hang the mug with handle on the dark gray rack, and release.", + "Use the arm to grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, move toward the smooth rack, hang the round mug with curved handle on the smooth rack, then release the round mug with curved handle.", + "With the arm, reach the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the mug with loop handle on the angular rack with slanted support rod, then release the mug with loop handle.", + "Grasp the medium-sized drinking mug at edge contact point 0, lift the medium-sized drinking mug from its spot, carry the medium-sized drinking mug to the metallic rack with smooth finish, hang the medium-sized drinking mug on the metallic rack with smooth finish, and release.", + "Guide the arm to the bright blue coffee mug, grip the bright blue coffee mug by edge contact point 0, pick it up, move to the smooth rack, hang the bright blue coffee mug on the smooth rack, and release.", + "Direct the arm to the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface clear, move to the rack with angular body, hang the mug with glossy surface on the rack with angular body, release the grip.", + "Approach the blue mug, take hold of the blue mug by edge contact point 0, raise it, bring it to the smooth dark gray rack, hook the blue mug onto the smooth dark gray rack, and let go.", + "With the arm, approach the blue mug, grasp the blue mug by edge contact point 0, lift the blue mug, bring it to the dark gray rack, hang the blue mug on the dark gray rack, then let go.", + "Use the arm to grab the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug, move over to the rack with angular body, hang the medium-sized drinking mug on the rack with angular body, and release the medium-sized drinking mug.", + "Pick up the medium-sized drinking mug by edge contact point 0, move the medium-sized drinking mug to the metallic rack with smooth finish, hang the medium-sized drinking mug on the metallic rack with smooth finish, and release the medium-sized drinking mug once it holds.", + "Take the mug with glossy surface by edge contact point 0, lift the mug with glossy surface up, move the mug with glossy surface in front of the rack with angular body, hang the mug with glossy surface onto the rack with angular body, then release the mug with glossy surface.", + "Guide the arm to the cylindrical blue mug, grip the cylindrical blue mug at edge contact point 0, lift the cylindrical blue mug, align the cylindrical blue mug with the rack with two rods sticking out, hang the cylindrical blue mug on the rack with two rods sticking out, release the cylindrical blue mug.", + "Send the arm to the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift it, carry the standard blue tea mug to the rack with two rods sticking out, hang the standard blue tea mug on the rack with two rods sticking out, and release the standard blue tea mug.", + "Grab the mug with loop handle at edge contact point 0, raise it, guide it to the dark gray rack, set the mug with loop handle onto the dark gray rack so it hangs, then release the mug with loop handle.", + "Take the mug with loop handle by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the mug with loop handle on the smooth dark gray rack, and release your grip.", + "With the arm, take the blue mug by edge contact point 0, lift the blue mug clear, move to the dark gray angled rack, hook the blue mug onto the dark gray angled rack, then open the grip.", + "Bring the arm to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the cylindrical blue mug on the rack with two rods sticking out, then let go.", + "Grab the standard blue tea mug at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the standard blue tea mug onto the angular rack with slanted support rod, and release the standard blue tea mug.", + "Grasp the bright blue coffee mug by edge contact point 0, lift the bright blue coffee mug, move it over to the rack with two rods sticking out, hook the bright blue coffee mug onto the rack with two rods sticking out, and release the bright blue coffee mug.", + "Go to the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the medium-sized drinking mug on the metallic angular rack with rod pair, and let go.", + "Move the arm to the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the mug with loop handle on the rack with two rods sticking out, release the mug with loop handle.", + "Using the arm, take the handle-mounted blue drinking mug at edge contact point 0, raise the handle-mounted blue drinking mug, move to the medium rack with protruding rods, hook the handle-mounted blue drinking mug onto the medium rack with protruding rods, and release the handle-mounted blue drinking mug.", + "With the arm, take hold of the standard blue tea mug by edge contact point 0, pick it up, bring it to the rack with angular body, hang the standard blue tea mug on the rack with angular body, then release.", + "Take the mug with glossy surface by edge contact point 0, lift it from its spot, carry the mug with glossy surface to the angled rack with long and short rods, hang the mug with glossy surface on the angled rack with long and short rods, then release the mug with glossy surface.", + "Reach the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug, carry the medium-sized drinking mug to the angular rack with slanted support rod, hang the medium-sized drinking mug on the angular rack with slanted support rod, then release the medium-sized drinking mug.", + "With the arm, grasp the cylindrical blue mug by edge contact point 0, lift and transport the cylindrical blue mug to the metallic rack with smooth finish, hang the cylindrical blue mug on the metallic rack with smooth finish, then let go.", + "Move the arm toward the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the mug with loop handle onto the rack with two rods sticking out to hang, then release.", + "Grab the mug with loop handle at edge contact point 0, lift it, bring it to the smooth rack, hang the mug with loop handle on the smooth rack, then release the grip.", + "Grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug up, move the medium-sized drinking mug to the dark gray angled rack, hang the medium-sized drinking mug on the dark gray angled rack, and let go of the medium-sized drinking mug.", + "Hold the standard blue tea mug using edge contact point 0, lift the standard blue tea mug up, bring the standard blue tea mug to the rack with two rods sticking out, hang the standard blue tea mug on the rack with two rods sticking out, then release.", + "Move the arm toward the handle-mounted blue drinking mug, grasp the handle-mounted blue drinking mug at edge contact point 0, lift the handle-mounted blue drinking mug, carry the handle-mounted blue drinking mug to the angular rack with slanted support rod, hang the handle-mounted blue drinking mug on the angular rack with slanted support rod, release the handle-mounted blue drinking mug.", + "Have the arm grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, bring it to the smooth rack, hang the mug with glossy surface from the smooth rack, then release.", + "Using the arm, secure the blue mug for hot drinks by edge contact point 0, lift, align the blue mug for hot drinks with the smooth dark gray rack, hang the blue mug for hot drinks on the smooth dark gray rack, and let go.", + "Grab the standard blue tea mug at edge contact point 0, lift the standard blue tea mug, move it to the dark gray rack, hook the standard blue tea mug onto the dark gray rack, and release the standard blue tea mug.", + "Grasp the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug, bring the cylindrical blue mug to the smooth dark gray rack, set the cylindrical blue mug onto the smooth dark gray rack to hang, and release the cylindrical blue mug.", + "Hold the mug with glossy surface at edge contact point 0, lift it up, move toward the metal rack, place the mug with glossy surface onto the metal rack to hang, then let go.", + "Get to the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, bring it to the rack with two rods sticking out, hang the mug with glossy surface on the rack with two rods sticking out, and release.", + "Take the blue mug by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the blue mug onto the angular rack with slanted support rod so it hangs, then let go.", + "Reach for the mug with handle, grasp the mug with handle by edge contact point 0, lift the mug with handle clear, place the mug with handle onto the medium rack with protruding rods to hang, then release the mug with handle.", + "Have the arm reach the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug, move to the angular rack with slanted support rod, hang the medium-sized drinking mug on the angular rack with slanted support rod, then open the grip.", + "Direct the arm to grip the handle-mounted blue drinking mug at edge contact point 0, pick the handle-mounted blue drinking mug up, carry it to the rack with angular body, hang the handle-mounted blue drinking mug on the rack with angular body, and release.", + "Use the arm to grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, move toward the medium rack with protruding rods, hang the round mug with curved handle on the medium rack with protruding rods, then release the round mug with curved handle.", + "With the arm, reach the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the medium-sized drinking mug on the angled rack with long and short rods, then release the medium-sized drinking mug.", + "Grasp the round mug with curved handle at edge contact point 0, lift the round mug with curved handle from its spot, carry the round mug with curved handle to the smooth dark gray rack, hang the round mug with curved handle on the smooth dark gray rack, and release.", + "Guide the arm to the cylindrical blue mug, grip the cylindrical blue mug by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the cylindrical blue mug on the angled rack with long and short rods, and release.", + "Direct the arm to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug clear, move to the medium rack with protruding rods, hang the cylindrical blue mug on the medium rack with protruding rods, release the grip.", + "Approach the cylindrical blue mug, take hold of the cylindrical blue mug by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the cylindrical blue mug onto the metallic angular rack with rod pair, and let go.", + "With the arm, approach the blue mug, grasp the blue mug by edge contact point 0, lift the blue mug, bring it to the rack with two rods sticking out, hang the blue mug on the rack with two rods sticking out, then let go.", + "Use the arm to grab the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug, move over to the rack with angular body, hang the cylindrical blue mug on the rack with angular body, and release the cylindrical blue mug.", + "Pick up the medium-sized drinking mug by edge contact point 0, move the medium-sized drinking mug to the angular rack with slanted support rod, hang the medium-sized drinking mug on the angular rack with slanted support rod, and release the medium-sized drinking mug once it holds.", + "Take the blue mug for hot drinks by edge contact point 0, lift the blue mug for hot drinks up, move the blue mug for hot drinks in front of the dark gray angled rack, hang the blue mug for hot drinks onto the dark gray angled rack, then release the blue mug for hot drinks.", + "Guide the arm to the blue mug for hot drinks, grip the blue mug for hot drinks at edge contact point 0, lift the blue mug for hot drinks, align the blue mug for hot drinks with the rack with angular body, hang the blue mug for hot drinks on the rack with angular body, release the blue mug for hot drinks.", + "Send the arm to the blue mug for hot drinks, grasp the blue mug for hot drinks by edge contact point 0, lift it, carry the blue mug for hot drinks to the metal rack, hang the blue mug for hot drinks on the metal rack, and release the blue mug for hot drinks.", + "Grab the blue mug for hot drinks at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the blue mug for hot drinks onto the rack with two rods sticking out so it hangs, then release the blue mug for hot drinks.", + "Take the mug with loop handle by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the mug with loop handle on the dark gray angled rack, and release your grip.", + "With the arm, take the mug with loop handle by edge contact point 0, lift the mug with loop handle clear, move to the angled rack with long and short rods, hook the mug with loop handle onto the angled rack with long and short rods, then open the grip.", + "Bring the arm to the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift it, move to the smooth rack, hang the mug with loop handle on the smooth rack, then let go.", + "Grab the handle-mounted blue drinking mug at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the handle-mounted blue drinking mug onto the medium rack with protruding rods, and release the handle-mounted blue drinking mug.", + "Grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, move it over to the medium rack with protruding rods, hook the standard blue tea mug onto the medium rack with protruding rods, and release the standard blue tea mug.", + "Go to the blue mug with solid texture, grasp the blue mug with solid texture by edge contact point 0, lift it clear, align it with the smooth rack, hang the blue mug with solid texture on the smooth rack, and let go.", + "Move the arm to the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the round mug with curved handle on the angular rack with slanted support rod, release the round mug with curved handle.", + "Using the arm, take the medium-sized drinking mug at edge contact point 0, raise the medium-sized drinking mug, move to the angular rack with slanted support rod, hook the medium-sized drinking mug onto the angular rack with slanted support rod, and release the medium-sized drinking mug.", + "With the arm, take hold of the blue mug for hot drinks by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the blue mug for hot drinks on the metallic rack with smooth finish, then release.", + "Take the handle-mounted blue drinking mug by edge contact point 0, lift it from its spot, carry the handle-mounted blue drinking mug to the metal rack, hang the handle-mounted blue drinking mug on the metal rack, then release the handle-mounted blue drinking mug.", + "Reach the blue mug with solid texture, grasp the blue mug with solid texture by edge contact point 0, lift the blue mug with solid texture, carry the blue mug with solid texture to the rack with two rods sticking out, hang the blue mug with solid texture on the rack with two rods sticking out, then release the blue mug with solid texture.", + "With the arm, grasp the blue mug with solid texture by edge contact point 0, lift and transport the blue mug with solid texture to the angular rack with slanted support rod, hang the blue mug with solid texture on the angular rack with slanted support rod, then let go.", + "Move the arm toward the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift it, travel to the dark gray angled rack, place the round mug with curved handle onto the dark gray angled rack to hang, then release.", + "Grab the medium-sized drinking mug at edge contact point 0, lift it, bring it to the metal rack, hang the medium-sized drinking mug on the metal rack, then release the grip.", + "Grasp the blue mug with solid texture by edge contact point 0, lift the blue mug with solid texture up, move the blue mug with solid texture to the medium rack with protruding rods, hang the blue mug with solid texture on the medium rack with protruding rods, and let go of the blue mug with solid texture.", + "Hold the blue mug with solid texture using edge contact point 0, lift the blue mug with solid texture up, bring the blue mug with solid texture to the medium rack with protruding rods, hang the blue mug with solid texture on the medium rack with protruding rods, then release.", + "Move the arm toward the medium-sized drinking mug, grasp the medium-sized drinking mug at edge contact point 0, lift the medium-sized drinking mug, carry the medium-sized drinking mug to the dark gray rack, hang the medium-sized drinking mug on the dark gray rack, release the medium-sized drinking mug.", + "Have the arm grasp the mug with loop handle by edge contact point 0, lift the mug with loop handle, bring it to the metallic angular rack with rod pair, hang the mug with loop handle from the metallic angular rack with rod pair, then release.", + "Using the arm, secure the mug with loop handle by edge contact point 0, lift, align the mug with loop handle with the angled rack with long and short rods, hang the mug with loop handle on the angled rack with long and short rods, and let go.", + "Grab the mug with glossy surface at edge contact point 0, lift the mug with glossy surface, move it to the metallic rack with smooth finish, hook the mug with glossy surface onto the metallic rack with smooth finish, and release the mug with glossy surface.", + "Grasp the blue mug for hot drinks by edge contact point 0, lift the blue mug for hot drinks, bring the blue mug for hot drinks to the rack with angular body, set the blue mug for hot drinks onto the rack with angular body to hang, and release the blue mug for hot drinks.", + "Hold the mug with handle at edge contact point 0, lift it up, move toward the metal rack, place the mug with handle onto the metal rack to hang, then let go.", + "Get to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug, bring it to the dark gray angled rack, hang the cylindrical blue mug on the dark gray angled rack, and release.", + "Take the mug with handle by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the mug with handle onto the angular rack with slanted support rod so it hangs, then let go.", + "Reach for the handle-mounted blue drinking mug, grasp the handle-mounted blue drinking mug by edge contact point 0, lift the handle-mounted blue drinking mug clear, place the handle-mounted blue drinking mug onto the metallic rack with smooth finish to hang, then release the handle-mounted blue drinking mug.", + "Have the arm reach the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift the mug with loop handle, move to the angular rack with slanted support rod, hang the mug with loop handle on the angular rack with slanted support rod, then open the grip.", + "Direct the arm to grip the blue mug at edge contact point 0, pick the blue mug up, carry it to the rack with angular body, hang the blue mug on the rack with angular body, and release.", + "Use the arm to grasp the handle-mounted blue drinking mug by edge contact point 0, lift the handle-mounted blue drinking mug, move toward the rack with two rods sticking out, hang the handle-mounted blue drinking mug on the rack with two rods sticking out, then release the handle-mounted blue drinking mug.", + "With the arm, reach the bright blue coffee mug, grasp the bright blue coffee mug by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the bright blue coffee mug on the metallic angular rack with rod pair, then release the bright blue coffee mug.", + "Grasp the mug with handle at edge contact point 0, lift the mug with handle from its spot, carry the mug with handle to the angled rack with long and short rods, hang the mug with handle on the angled rack with long and short rods, and release.", + "Guide the arm to the round mug with curved handle, grip the round mug with curved handle by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the round mug with curved handle on the metallic rack with smooth finish, and release.", + "Direct the arm to the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug clear, move to the angular rack with slanted support rod, hang the medium-sized drinking mug on the angular rack with slanted support rod, release the grip.", + "Approach the round mug with curved handle, take hold of the round mug with curved handle by edge contact point 0, raise it, bring it to the metal rack, hook the round mug with curved handle onto the metal rack, and let go.", + "With the arm, approach the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, bring it to the metal rack, hang the standard blue tea mug on the metal rack, then let go.", + "Use the arm to grab the blue mug for hot drinks by edge contact point 0, lift the blue mug for hot drinks, move over to the dark gray rack, hang the blue mug for hot drinks on the dark gray rack, and release the blue mug for hot drinks.", + "Pick up the mug with glossy surface by edge contact point 0, move the mug with glossy surface to the smooth dark gray rack, hang the mug with glossy surface on the smooth dark gray rack, and release the mug with glossy surface once it holds.", + "Take the mug with handle by edge contact point 0, lift the mug with handle up, move the mug with handle in front of the metallic angular rack with rod pair, hang the mug with handle onto the metallic angular rack with rod pair, then release the mug with handle.", + "Guide the arm to the blue mug for hot drinks, grip the blue mug for hot drinks at edge contact point 0, lift the blue mug for hot drinks, align the blue mug for hot drinks with the dark gray rack, hang the blue mug for hot drinks on the dark gray rack, release the blue mug for hot drinks.", + "Send the arm to the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift it, carry the medium-sized drinking mug to the metal rack, hang the medium-sized drinking mug on the metal rack, and release the medium-sized drinking mug.", + "Grab the blue mug for hot drinks at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the blue mug for hot drinks onto the smooth dark gray rack so it hangs, then release the blue mug for hot drinks.", + "Take the blue mug with solid texture by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the blue mug with solid texture on the medium rack with protruding rods, and release your grip.", + "With the arm, take the mug with handle by edge contact point 0, lift the mug with handle clear, move to the smooth rack, hook the mug with handle onto the smooth rack, then open the grip." + ], + "unseen": [ + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go of the smooth shiny blue mug.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then release the lightweight mug for beverages.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and let go of the smooth shiny blue mug.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then release the lightweight mug for beverages.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go of the smooth shiny blue mug.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release the lightweight mug for beverages.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go of the lightweight mug for beverages.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the lightweight mug for beverages on the rack with straight and slanted rods, then let go.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go of the smooth shiny blue mug.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Grasp the lightweight mug for beverages by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then release the drinking mug made of ceramic.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go of the drinking mug made of ceramic.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release the lightweight mug for beverages.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and let go of the drinking mug made of ceramic.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and let go of the drinking mug made of ceramic.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Grasp the lightweight mug for beverages by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and release.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then release the smooth shiny blue mug.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go of the lightweight mug for beverages.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then release the lightweight mug for beverages.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go of the lightweight mug for beverages.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then let go.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the lightweight mug for beverages on the rack with straight and slanted rods, then let go.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release the smooth shiny blue mug.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Grasp the lightweight mug for beverages by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and release.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go of the drinking mug made of ceramic.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then release.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode27.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..256e85568c00854fcd9ac92d0e2049307666806d --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the green mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the green mug onto the smooth rack, and release the green mug.", + "Guide the arm to the logo mug, grip the logo mug at edge contact point 0, lift the logo mug, align the logo mug with the rack with two rods sticking out, hang the logo mug on the rack with two rods sticking out, release the logo mug.", + "Move the arm toward the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the dark green ceramic cup onto the rack with two rods sticking out to hang, then release.", + "Use the arm to grasp the green mug by edge contact point 0, lift the green mug, move toward the dark gray angled rack, hang the green mug on the dark gray angled rack, then release the green mug.", + "Grab the round mug with one handle at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the round mug with one handle onto the metallic angular rack with rod pair so it hangs, then release the round mug with one handle.", + "With the arm, approach the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, bring it to the smooth dark gray rack, hang the medium mug with handle on the smooth dark gray rack, then let go.", + "Hold the smooth dark green mug at edge contact point 0, lift it up, move toward the rack with angular body, place the smooth dark green mug onto the rack with angular body to hang, then let go.", + "Pick up the smooth dark green mug by edge contact point 0, move the smooth dark green mug to the dark gray angled rack, hang the smooth dark green mug on the dark gray angled rack, and release the smooth dark green mug once it holds.", + "With the arm, take hold of the logo mug by edge contact point 0, pick it up, bring it to the metal rack, hang the logo mug on the metal rack, then release.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, then release.", + "Take the smooth dark green mug by edge contact point 0, lift it from its spot, carry the smooth dark green mug to the dark gray rack, hang the smooth dark green mug on the dark gray rack, then release the smooth dark green mug.", + "Grab the green mug at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the green mug on the rack with two rods sticking out, then release the grip.", + "With the arm, grasp the smooth dark green mug by edge contact point 0, lift and transport the smooth dark green mug to the rack with angular body, hang the smooth dark green mug on the rack with angular body, then let go.", + "Direct the arm to the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug clear, move to the metallic angular rack with rod pair, hang the Starbucks branded coffee mug on the metallic angular rack with rod pair, release the grip.", + "Take the logo mug by edge contact point 0, lift the logo mug up, move the logo mug in front of the rack with two rods sticking out, hang the logo mug onto the rack with two rods sticking out, then release the logo mug.", + "Use the arm to grab the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, move over to the metallic angular rack with rod pair, hang the ceramic mug for hot drinks on the metallic angular rack with rod pair, and release the ceramic mug for hot drinks.", + "Using the arm, secure the smooth dark green mug by edge contact point 0, lift, align the smooth dark green mug with the medium rack with protruding rods, hang the smooth dark green mug on the medium rack with protruding rods, and let go.", + "Grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, bring the medium mug with handle to the dark gray angled rack, set the medium mug with handle onto the dark gray angled rack to hang, and release the medium mug with handle.", + "Reach the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, carry the medium mug with handle to the smooth rack, hang the medium mug with handle on the smooth rack, then release the medium mug with handle.", + "Reach for the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug clear, place the Starbucks branded coffee mug onto the dark gray angled rack to hang, then release the Starbucks branded coffee mug.", + "Grab the medium mug with handle at edge contact point 0, lift the medium mug with handle, move it to the rack with angular body, hook the medium mug with handle onto the rack with angular body, and release the medium mug with handle.", + "Take the green drinking mug by edge contact point 0, lift it, bring it over to the smooth rack, place the green drinking mug onto the smooth rack so it hangs, then let go.", + "Grasp the green mug by edge contact point 0, lift the green mug, move it over to the angled rack with long and short rods, hook the green mug onto the angled rack with long and short rods, and release the green mug.", + "Bring the arm to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift it, move to the metal rack, hang the medium-sized smooth green Starbucks mug on the metal rack, then let go.", + "Have the arm grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, bring it to the dark gray angled rack, hang the ceramic mug for hot drinks from the dark gray angled rack, then release.", + "Send the arm to the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it, carry the green drinking mug to the metal rack, hang the green drinking mug on the metal rack, and release the green drinking mug.", + "Have the arm reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, then open the grip.", + "Move the arm toward the smooth dark green mug, grasp the smooth dark green mug at edge contact point 0, lift the smooth dark green mug, carry the smooth dark green mug to the rack with two rods sticking out, hang the smooth dark green mug on the rack with two rods sticking out, release the smooth dark green mug.", + "Get to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, bring it to the angular rack with slanted support rod, hang the ceramic mug for hot drinks on the angular rack with slanted support rod, and release.", + "Approach the ceramic mug for hot drinks, take hold of the ceramic mug for hot drinks by edge contact point 0, raise it, bring it to the metal rack, hook the ceramic mug for hot drinks onto the metal rack, and let go.", + "Direct the arm to grip the smooth dark green mug at edge contact point 0, pick the smooth dark green mug up, carry it to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, and release.", + "Go to the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the green drinking mug on the dark gray angled rack, and let go.", + "Guide the arm to the green drinking mug, grip the green drinking mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the green drinking mug on the rack with two rods sticking out, and release.", + "Move the arm to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift, carry to the rack with angular body, hang the round mug with one handle on the rack with angular body, release the round mug with one handle.", + "Grasp the green mug at edge contact point 0, lift the green mug from its spot, carry the green mug to the smooth rack, hang the green mug on the smooth rack, and release.", + "With the arm, take the medium mug with handle by edge contact point 0, lift the medium mug with handle clear, move to the dark gray angled rack, hook the medium mug with handle onto the dark gray angled rack, then open the grip.", + "Using the arm, take the green drinking mug at edge contact point 0, raise the green drinking mug, move to the metallic rack with smooth finish, hook the green drinking mug onto the metallic rack with smooth finish, and release the green drinking mug.", + "With the arm, reach the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift, align it to the smooth dark gray rack, hang the ceramic mug for hot drinks on the smooth dark gray rack, then release the ceramic mug for hot drinks.", + "Take the medium-sized smooth green Starbucks mug by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the medium-sized smooth green Starbucks mug on the angled rack with long and short rods, and release your grip.", + "Grasp the green mug by edge contact point 0, lift the green mug up, move the green mug to the smooth rack, hang the green mug on the smooth rack, and let go of the green mug.", + "Grab the dark green ceramic cup at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the dark green ceramic cup onto the angular rack with slanted support rod, and release the dark green ceramic cup.", + "Guide the arm to the dark green ceramic cup, grip the dark green ceramic cup at edge contact point 0, lift the dark green ceramic cup, align the dark green ceramic cup with the metallic rack with smooth finish, hang the dark green ceramic cup on the metallic rack with smooth finish, release the dark green ceramic cup.", + "Move the arm toward the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the ceramic mug onto the rack with two rods sticking out to hang, then release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move toward the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, then release the ceramic mug.", + "Grab the ceramic mug for hot drinks at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the ceramic mug for hot drinks onto the medium rack with protruding rods so it hangs, then release the ceramic mug for hot drinks.", + "With the arm, approach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, bring it to the angled rack with long and short rods, hang the logo mug on the angled rack with long and short rods, then let go.", + "Hold the medium mug with handle at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the medium mug with handle onto the metallic rack with smooth finish to hang, then let go.", + "Pick up the medium-sized smooth green Starbucks mug by edge contact point 0, move the medium-sized smooth green Starbucks mug to the rack with angular body, hang the medium-sized smooth green Starbucks mug on the rack with angular body, and release the medium-sized smooth green Starbucks mug once it holds.", + "With the arm, take hold of the starbucks green mug by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the starbucks green mug on the metallic angular rack with rod pair, then release.", + "Hold the starbucks green mug using edge contact point 0, lift the starbucks green mug up, bring the starbucks green mug to the smooth dark gray rack, hang the starbucks green mug on the smooth dark gray rack, then release.", + "Take the medium mug with handle by edge contact point 0, lift it from its spot, carry the medium mug with handle to the angular rack with slanted support rod, hang the medium mug with handle on the angular rack with slanted support rod, then release the medium mug with handle.", + "Grab the dark green ceramic cup at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the dark green ceramic cup on the angular rack with slanted support rod, then release the grip.", + "With the arm, grasp the green mug by edge contact point 0, lift and transport the green mug to the metal rack, hang the green mug on the metal rack, then let go.", + "Direct the arm to the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug clear, move to the rack with two rods sticking out, hang the logo mug on the rack with two rods sticking out, release the grip.", + "Take the green mug by edge contact point 0, lift the green mug up, move the green mug in front of the rack with two rods sticking out, hang the green mug onto the rack with two rods sticking out, then release the green mug.", + "Use the arm to grab the logo mug by edge contact point 0, lift the logo mug, move over to the smooth rack, hang the logo mug on the smooth rack, and release the logo mug.", + "Using the arm, secure the round mug with one handle by edge contact point 0, lift, align the round mug with one handle with the metallic angular rack with rod pair, hang the round mug with one handle on the metallic angular rack with rod pair, and let go.", + "Grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, bring the ceramic mug for hot drinks to the smooth dark gray rack, set the ceramic mug for hot drinks onto the smooth dark gray rack to hang, and release the ceramic mug for hot drinks.", + "Reach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, carry the logo mug to the rack with two rods sticking out, hang the logo mug on the rack with two rods sticking out, then release the logo mug.", + "Reach for the green drinking mug, grasp the green drinking mug by edge contact point 0, lift the green drinking mug clear, place the green drinking mug onto the rack with two rods sticking out to hang, then release the green drinking mug.", + "Grab the green drinking mug at edge contact point 0, lift the green drinking mug, move it to the metallic rack with smooth finish, hook the green drinking mug onto the metallic rack with smooth finish, and release the green drinking mug.", + "Take the dark green ceramic cup by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the dark green ceramic cup onto the metallic rack with smooth finish so it hangs, then let go.", + "Grasp the logo mug by edge contact point 0, lift the logo mug, move it over to the rack with angular body, hook the logo mug onto the rack with angular body, and release the logo mug.", + "Bring the arm to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift it, move to the smooth dark gray rack, hang the round mug with one handle on the smooth dark gray rack, then let go.", + "Have the arm grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack, hang the ceramic mug from the dark gray rack, then release.", + "Send the arm to the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift it, carry the medium mug with handle to the metallic angular rack with rod pair, hang the medium mug with handle on the metallic angular rack with rod pair, and release the medium mug with handle.", + "Have the arm reach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, move to the angled rack with long and short rods, hang the logo mug on the angled rack with long and short rods, then open the grip.", + "Move the arm toward the medium mug with handle, grasp the medium mug with handle at edge contact point 0, lift the medium mug with handle, carry the medium mug with handle to the metallic rack with smooth finish, hang the medium mug with handle on the metallic rack with smooth finish, release the medium mug with handle.", + "Get to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, bring it to the metallic angular rack with rod pair, hang the round mug with one handle on the metallic angular rack with rod pair, and release.", + "Approach the logo mug, take hold of the logo mug by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the logo mug onto the angular rack with slanted support rod, and let go.", + "Direct the arm to grip the round mug with one handle at edge contact point 0, pick the round mug with one handle up, carry it to the angled rack with long and short rods, hang the round mug with one handle on the angled rack with long and short rods, and release.", + "Go to the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the smooth dark green mug on the metallic rack with smooth finish, and let go.", + "Guide the arm to the starbucks green mug, grip the starbucks green mug by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the starbucks green mug on the metallic angular rack with rod pair, and release.", + "Move the arm to the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the smooth dark green mug on the metallic rack with smooth finish, release the smooth dark green mug.", + "Grasp the medium-sized smooth green Starbucks mug at edge contact point 0, lift the medium-sized smooth green Starbucks mug from its spot, carry the medium-sized smooth green Starbucks mug to the angular rack with slanted support rod, hang the medium-sized smooth green Starbucks mug on the angular rack with slanted support rod, and release.", + "With the arm, take the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug clear, move to the angular rack with slanted support rod, hook the Starbucks branded coffee mug onto the angular rack with slanted support rod, then open the grip.", + "Using the arm, take the starbucks green mug at edge contact point 0, raise the starbucks green mug, move to the metallic angular rack with rod pair, hook the starbucks green mug onto the metallic angular rack with rod pair, and release the starbucks green mug.", + "With the arm, reach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift, align it to the smooth rack, hang the round mug with one handle on the smooth rack, then release the round mug with one handle.", + "Take the medium mug with handle by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the medium mug with handle on the metallic angular rack with rod pair, and release your grip.", + "Grasp the logo mug by edge contact point 0, lift the logo mug up, move the logo mug to the dark gray angled rack, hang the logo mug on the dark gray angled rack, and let go of the logo mug.", + "Grab the dark green ceramic cup at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the dark green ceramic cup onto the smooth dark gray rack, and release the dark green ceramic cup.", + "Guide the arm to the medium-sized smooth green Starbucks mug, grip the medium-sized smooth green Starbucks mug at edge contact point 0, lift the medium-sized smooth green Starbucks mug, align the medium-sized smooth green Starbucks mug with the rack with angular body, hang the medium-sized smooth green Starbucks mug on the rack with angular body, release the medium-sized smooth green Starbucks mug.", + "Move the arm toward the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the round mug with one handle onto the medium rack with protruding rods to hang, then release.", + "Use the arm to grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, move toward the angular rack with slanted support rod, hang the medium mug with handle on the angular rack with slanted support rod, then release the medium mug with handle.", + "Grab the dark green ceramic cup at edge contact point 0, raise it, guide it to the smooth rack, set the dark green ceramic cup onto the smooth rack so it hangs, then release the dark green ceramic cup.", + "With the arm, approach the green drinking mug, grasp the green drinking mug by edge contact point 0, lift the green drinking mug, bring it to the medium rack with protruding rods, hang the green drinking mug on the medium rack with protruding rods, then let go.", + "Hold the medium mug with handle at edge contact point 0, lift it up, move toward the smooth rack, place the medium mug with handle onto the smooth rack to hang, then let go.", + "Pick up the round mug with one handle by edge contact point 0, move the round mug with one handle to the rack with two rods sticking out, hang the round mug with one handle on the rack with two rods sticking out, and release the round mug with one handle once it holds.", + "With the arm, take hold of the medium mug with handle by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the medium mug with handle on the metallic angular rack with rod pair, then release.", + "Hold the green drinking mug using edge contact point 0, lift the green drinking mug up, bring the green drinking mug to the medium rack with protruding rods, hang the green drinking mug on the medium rack with protruding rods, then release.", + "Take the medium-sized smooth green Starbucks mug by edge contact point 0, lift it from its spot, carry the medium-sized smooth green Starbucks mug to the rack with two rods sticking out, hang the medium-sized smooth green Starbucks mug on the rack with two rods sticking out, then release the medium-sized smooth green Starbucks mug.", + "Grab the ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the ceramic mug on the smooth rack, then release the grip.", + "With the arm, grasp the smooth dark green mug by edge contact point 0, lift and transport the smooth dark green mug to the rack with two rods sticking out, hang the smooth dark green mug on the rack with two rods sticking out, then let go.", + "Direct the arm to the green mug, grasp the green mug by edge contact point 0, lift the green mug clear, move to the rack with angular body, hang the green mug on the rack with angular body, release the grip.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the dark gray rack, hang the ceramic mug onto the dark gray rack, then release the ceramic mug.", + "Use the arm to grab the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move over to the angled rack with long and short rods, hang the dark green ceramic cup on the angled rack with long and short rods, and release the dark green ceramic cup.", + "Using the arm, secure the Starbucks branded coffee mug by edge contact point 0, lift, align the Starbucks branded coffee mug with the dark gray angled rack, hang the Starbucks branded coffee mug on the dark gray angled rack, and let go.", + "Grasp the logo mug by edge contact point 0, lift the logo mug, bring the logo mug to the metallic rack with smooth finish, set the logo mug onto the metallic rack with smooth finish to hang, and release the logo mug.", + "Reach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, carry the round mug with one handle to the angular rack with slanted support rod, hang the round mug with one handle on the angular rack with slanted support rod, then release the round mug with one handle.", + "Reach for the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup clear, place the dark green ceramic cup onto the dark gray angled rack to hang, then release the dark green ceramic cup." + ], + "unseen": [ + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go of the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release the mug with white logo print.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go of the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release the dark mug with a curved handle.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go of the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go of the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release the mug with white logo print.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go of the cylindrical mug with Starbucks logo.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go of the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go of the mug with white logo print.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release the dark mug with a curved handle.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode28.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..be4da54ac011b3563aa1ec8dd4f63ce761ff15bb --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the arm, take the smooth white mug at edge contact point 0, raise the smooth white mug, move to the smooth dark gray rack, hook the smooth white mug onto the smooth dark gray rack, and release the smooth white mug.", + "Grab the white ceramic mug with handle at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the white ceramic mug with handle onto the smooth dark gray rack, and release the white ceramic mug with handle.", + "Grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface from its spot, carry the white drinking mug with smooth surface to the dark gray rack, hang the white drinking mug with smooth surface on the dark gray rack, and release.", + "With the arm, reach the white mug, grasp the white mug by edge contact point 0, lift, align it to the dark gray rack, hang the white mug on the dark gray rack, then release the white mug.", + "Direct the arm to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish clear, move to the smooth dark gray rack, hang the white mug with glossy finish on the smooth dark gray rack, release the grip.", + "Grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle up, move the cylindrical mug with curved handle to the smooth rack, hang the cylindrical mug with curved handle on the smooth rack, and let go of the cylindrical mug with curved handle.", + "Send the arm to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift it, carry the white drinking mug with smooth surface to the metallic rack with smooth finish, hang the white drinking mug with smooth surface on the metallic rack with smooth finish, and release the white drinking mug with smooth surface.", + "Grasp the mug with blue print by edge contact point 0, lift the mug with blue print, move it over to the metallic rack with smooth finish, hook the mug with blue print onto the metallic rack with smooth finish, and release the mug with blue print.", + "Approach the hand-sized mug with blue artwork, take hold of the hand-sized mug with blue artwork by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the hand-sized mug with blue artwork onto the medium rack with protruding rods, and let go.", + "Guide the arm to the ceramic mug, grip the ceramic mug by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, and release.", + "Hold the smooth white mug at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the smooth white mug onto the rack with two rods sticking out to hang, then let go.", + "Grab the cylindrical mug with curved handle at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the cylindrical mug with curved handle on the angled rack with long and short rods, then release the grip.", + "Have the arm reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, move to the rack with angular body, hang the white mug on the rack with angular body, then open the grip.", + "Using the arm, secure the white drinking mug with smooth surface by edge contact point 0, lift, align the white drinking mug with smooth surface with the dark gray angled rack, hang the white drinking mug with smooth surface on the dark gray angled rack, and let go.", + "Take the printed white ceramic mug by edge contact point 0, lift it from its spot, carry the printed white ceramic mug to the angular rack with slanted support rod, hang the printed white ceramic mug on the angular rack with slanted support rod, then release the printed white ceramic mug.", + "Reach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, carry the medium mug with blue design to the rack with angular body, hang the medium mug with blue design on the rack with angular body, then release the medium mug with blue design.", + "Use the arm to grab the mug with blue print by edge contact point 0, lift the mug with blue print, move over to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and release the mug with blue print.", + "With the arm, grasp the medium mug with blue design by edge contact point 0, lift and transport the medium mug with blue design to the angular rack with slanted support rod, hang the medium mug with blue design on the angular rack with slanted support rod, then let go.", + "Take the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle up, move the white ceramic mug with handle in front of the rack with angular body, hang the white ceramic mug with handle onto the rack with angular body, then release the white ceramic mug with handle.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, then let go.", + "Grab the cylindrical mug with curved handle at edge contact point 0, raise it, guide it to the metal rack, set the cylindrical mug with curved handle onto the metal rack so it hangs, then release the cylindrical mug with curved handle.", + "Have the arm grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the metallic rack with smooth finish, hang the medium mug with blue design from the metallic rack with smooth finish, then release.", + "Move the arm toward the medium mug with blue design, grasp the medium mug with blue design at edge contact point 0, lift the medium mug with blue design, carry the medium mug with blue design to the angular rack with slanted support rod, hang the medium mug with blue design on the angular rack with slanted support rod, release the medium mug with blue design.", + "Reach for the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, place the medium mug with blue design onto the metallic angular rack with rod pair to hang, then release the medium mug with blue design.", + "Hold the cylindrical mug with curved handle using edge contact point 0, lift the cylindrical mug with curved handle up, bring the cylindrical mug with curved handle to the smooth dark gray rack, hang the cylindrical mug with curved handle on the smooth dark gray rack, then release.", + "With the arm, approach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the smooth rack, hang the medium mug with blue design on the smooth rack, then let go.", + "Get to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the metallic angular rack with rod pair, hang the hand-sized mug with blue artwork on the metallic angular rack with rod pair, and release.", + "Use the arm to grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move toward the medium rack with protruding rods, hang the white mug with glossy finish on the medium rack with protruding rods, then release the white mug with glossy finish.", + "Guide the arm to the white mug, grip the white mug at edge contact point 0, lift the white mug, align the white mug with the metallic angular rack with rod pair, hang the white mug on the metallic angular rack with rod pair, release the white mug.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the cylindrical mug with curved handle onto the smooth dark gray rack so it hangs, then let go.", + "With the arm, take hold of the medium mug with blue design by edge contact point 0, pick it up, bring it to the dark gray rack, hang the medium mug with blue design on the dark gray rack, then release.", + "With the arm, take the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the dark gray rack, hook the ceramic mug onto the dark gray rack, then open the grip.", + "Pick up the printed white ceramic mug by edge contact point 0, move the printed white ceramic mug to the dark gray angled rack, hang the printed white ceramic mug on the dark gray angled rack, and release the printed white ceramic mug once it holds.", + "Move the arm to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, release the printed white ceramic mug.", + "Direct the arm to grip the white ceramic mug with handle at edge contact point 0, pick the white ceramic mug with handle up, carry it to the angular rack with slanted support rod, hang the white ceramic mug with handle on the angular rack with slanted support rod, and release.", + "Grab the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, move it to the metal rack, hook the hand-sized mug with blue artwork onto the metal rack, and release the hand-sized mug with blue artwork.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring the white mug with glossy finish to the smooth rack, set the white mug with glossy finish onto the smooth rack to hang, and release the white mug with glossy finish.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the cylindrical mug with curved handle on the metallic angular rack with rod pair, and release your grip.", + "Move the arm toward the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, travel to the rack with angular body, place the hand-sized mug with blue artwork onto the rack with angular body to hang, then release.", + "Go to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the mug with blue print on the angular rack with slanted support rod, and let go.", + "Using the arm, take the mug for drinking liquids at edge contact point 0, raise the mug for drinking liquids, move to the metallic angular rack with rod pair, hook the mug for drinking liquids onto the metallic angular rack with rod pair, and release the mug for drinking liquids.", + "Grab the medium mug with blue design at edge contact point 0, pick it up, move it over to the metal rack, hang the medium mug with blue design onto the metal rack, and release the medium mug with blue design.", + "Grasp the smooth white mug at edge contact point 0, lift the smooth white mug from its spot, carry the smooth white mug to the rack with two rods sticking out, hang the smooth white mug on the rack with two rods sticking out, and release.", + "With the arm, reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the hand-sized mug with blue artwork on the angled rack with long and short rods, then release the hand-sized mug with blue artwork.", + "Direct the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the rack with angular body, hang the mug with blue print on the rack with angular body, release the grip.", + "Grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork up, move the hand-sized mug with blue artwork to the smooth dark gray rack, hang the hand-sized mug with blue artwork on the smooth dark gray rack, and let go of the hand-sized mug with blue artwork.", + "Send the arm to the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it, carry the white ceramic mug with handle to the angled rack with long and short rods, hang the white ceramic mug with handle on the angled rack with long and short rods, and release the white ceramic mug with handle.", + "Grasp the smooth white mug by edge contact point 0, lift the smooth white mug, move it over to the dark gray angled rack, hook the smooth white mug onto the dark gray angled rack, and release the smooth white mug.", + "Approach the mug with blue print, take hold of the mug with blue print by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the mug with blue print onto the metallic rack with smooth finish, and let go.", + "Guide the arm to the white mug with glossy finish, grip the white mug with glossy finish by edge contact point 0, pick it up, move to the dark gray rack, hang the white mug with glossy finish on the dark gray rack, and release.", + "Hold the printed white ceramic mug at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the printed white ceramic mug onto the angled rack with long and short rods to hang, then let go.", + "Grab the medium mug with blue design at edge contact point 0, lift it, bring it to the dark gray rack, hang the medium mug with blue design on the dark gray rack, then release the grip.", + "Have the arm reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move to the rack with angular body, hang the cylindrical mug with curved handle on the rack with angular body, then open the grip.", + "Using the arm, secure the white mug by edge contact point 0, lift, align the white mug with the rack with two rods sticking out, hang the white mug on the rack with two rods sticking out, and let go.", + "Take the mug for drinking liquids by edge contact point 0, lift it from its spot, carry the mug for drinking liquids to the smooth rack, hang the mug for drinking liquids on the smooth rack, then release the mug for drinking liquids.", + "Reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, carry the smooth white mug to the rack with two rods sticking out, hang the smooth white mug on the rack with two rods sticking out, then release the smooth white mug.", + "Use the arm to grab the smooth white mug by edge contact point 0, lift the smooth white mug, move over to the rack with angular body, hang the smooth white mug on the rack with angular body, and release the smooth white mug.", + "With the arm, grasp the medium mug with blue design by edge contact point 0, lift and transport the medium mug with blue design to the angular rack with slanted support rod, hang the medium mug with blue design on the angular rack with slanted support rod, then let go.", + "Take the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug in front of the metallic angular rack with rod pair, hang the smooth white mug onto the metallic angular rack with rod pair, then release the smooth white mug.", + "Bring the arm to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the cylindrical mug with curved handle on the metallic rack with smooth finish, then let go.", + "Grab the white mug at edge contact point 0, raise it, guide it to the metallic rack with smooth finish, set the white mug onto the metallic rack with smooth finish so it hangs, then release the white mug.", + "Have the arm grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the angled rack with long and short rods, hang the hand-sized mug with blue artwork from the angled rack with long and short rods, then release.", + "Move the arm toward the white mug, grasp the white mug at edge contact point 0, lift the white mug, carry the white mug to the angled rack with long and short rods, hang the white mug on the angled rack with long and short rods, release the white mug.", + "Reach for the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish clear, place the white mug with glossy finish onto the metal rack to hang, then release the white mug with glossy finish.", + "Hold the cylindrical mug with curved handle using edge contact point 0, lift the cylindrical mug with curved handle up, bring the cylindrical mug with curved handle to the rack with two rods sticking out, hang the cylindrical mug with curved handle on the rack with two rods sticking out, then release.", + "With the arm, approach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, bring it to the medium rack with protruding rods, hang the mug for drinking liquids on the medium rack with protruding rods, then let go.", + "Get to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the angular rack with slanted support rod, hang the printed white ceramic mug on the angular rack with slanted support rod, and release.", + "Use the arm to grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move toward the dark gray angled rack, hang the white ceramic mug with handle on the dark gray angled rack, then release the white ceramic mug with handle.", + "Guide the arm to the white ceramic mug with handle, grip the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, align the white ceramic mug with handle with the angular rack with slanted support rod, hang the white ceramic mug with handle on the angular rack with slanted support rod, release the white ceramic mug with handle.", + "Take the smooth white mug by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the smooth white mug onto the metallic angular rack with rod pair so it hangs, then let go.", + "With the arm, take hold of the medium mug with blue design by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the medium mug with blue design on the dark gray angled rack, then release.", + "With the arm, take the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface clear, move to the metal rack, hook the white drinking mug with smooth surface onto the metal rack, then open the grip.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the dark gray rack, hang the ceramic mug on the dark gray rack, and release the ceramic mug once it holds.", + "Move the arm to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift, carry to the dark gray rack, hang the printed white ceramic mug on the dark gray rack, release the printed white ceramic mug.", + "Direct the arm to grip the white mug with glossy finish at edge contact point 0, pick the white mug with glossy finish up, carry it to the smooth dark gray rack, hang the white mug with glossy finish on the smooth dark gray rack, and release.", + "Grab the medium mug with blue design at edge contact point 0, lift the medium mug with blue design, move it to the medium rack with protruding rods, hook the medium mug with blue design onto the medium rack with protruding rods, and release the medium mug with blue design.", + "Grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring the printed white ceramic mug to the metallic rack with smooth finish, set the printed white ceramic mug onto the metallic rack with smooth finish to hang, and release the printed white ceramic mug.", + "Take the mug for drinking liquids by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the mug for drinking liquids on the angled rack with long and short rods, and release your grip.", + "Move the arm toward the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, travel to the smooth dark gray rack, place the mug with blue print onto the smooth dark gray rack to hang, then release.", + "Go to the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it clear, align it with the rack with angular body, hang the white ceramic mug with handle on the rack with angular body, and let go.", + "Using the arm, take the white drinking mug with smooth surface at edge contact point 0, raise the white drinking mug with smooth surface, move to the medium rack with protruding rods, hook the white drinking mug with smooth surface onto the medium rack with protruding rods, and release the white drinking mug with smooth surface.", + "Grab the mug with blue print at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the mug with blue print onto the metallic rack with smooth finish, and release the mug with blue print.", + "Grasp the smooth white mug at edge contact point 0, lift the smooth white mug from its spot, carry the smooth white mug to the metal rack, hang the smooth white mug on the metal rack, and release.", + "With the arm, reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the hand-sized mug with blue artwork on the rack with two rods sticking out, then release the hand-sized mug with blue artwork.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, release the grip.", + "Grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle up, move the white ceramic mug with handle to the metallic angular rack with rod pair, hang the white ceramic mug with handle on the metallic angular rack with rod pair, and let go of the white ceramic mug with handle.", + "Send the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, carry the mug with blue print to the rack with two rods sticking out, hang the mug with blue print on the rack with two rods sticking out, and release the mug with blue print.", + "Grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, move it over to the dark gray angled rack, hook the printed white ceramic mug onto the dark gray angled rack, and release the printed white ceramic mug.", + "Approach the white ceramic mug with handle, take hold of the white ceramic mug with handle by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the white ceramic mug with handle onto the angular rack with slanted support rod, and let go.", + "Guide the arm to the white ceramic mug with handle, grip the white ceramic mug with handle by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the white ceramic mug with handle on the smooth dark gray rack, and release.", + "Hold the mug for drinking liquids at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the mug for drinking liquids onto the smooth dark gray rack to hang, then let go.", + "Grab the medium mug with blue design at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the medium mug with blue design on the angled rack with long and short rods, then release the grip.", + "Have the arm reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move to the metallic rack with smooth finish, hang the white ceramic mug with handle on the metallic rack with smooth finish, then open the grip.", + "Using the arm, secure the white drinking mug with smooth surface by edge contact point 0, lift, align the white drinking mug with smooth surface with the smooth dark gray rack, hang the white drinking mug with smooth surface on the smooth dark gray rack, and let go.", + "Take the ceramic mug by edge contact point 0, lift it from its spot, carry the ceramic mug to the smooth rack, hang the ceramic mug on the smooth rack, then release the ceramic mug.", + "Reach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, carry the white mug with glossy finish to the smooth dark gray rack, hang the white mug with glossy finish on the smooth dark gray rack, then release the white mug with glossy finish.", + "Use the arm to grab the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move over to the metal rack, hang the medium mug with blue design on the metal rack, and release the medium mug with blue design.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the medium rack with protruding rods, hang the white drinking mug with smooth surface on the medium rack with protruding rods, then let go.", + "Take the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle up, move the cylindrical mug with curved handle in front of the rack with two rods sticking out, hang the cylindrical mug with curved handle onto the rack with two rods sticking out, then release the cylindrical mug with curved handle.", + "Bring the arm to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift it, move to the smooth dark gray rack, hang the white mug with glossy finish on the smooth dark gray rack, then let go." + ], + "unseen": [ + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release the mug shaped like a cylinder.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode29.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..92d99645b53512b919f0f32e47d88650edcc861e --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Guide the arm to the cylindrical beige ceramic mug, grip the cylindrical beige ceramic mug by edge contact point 0, pick it up, move to the dark gray angled rack, hang the cylindrical beige ceramic mug on the dark gray angled rack, and release.", + "Get to the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, bring it to the medium rack with protruding rods, hang the beige mug used for drinks on the medium rack with protruding rods, and release.", + "Move the arm toward the mug with side handle, grasp the mug with side handle by edge contact point 0, lift it, travel to the smooth dark gray rack, place the mug with side handle onto the smooth dark gray rack to hang, then release.", + "Grab the smooth ceramic mug at edge contact point 0, lift the smooth ceramic mug, move it to the metallic rack with smooth finish, hook the smooth ceramic mug onto the metallic rack with smooth finish, and release the smooth ceramic mug.", + "Have the arm grasp the mug with side handle by edge contact point 0, lift the mug with side handle, bring it to the angular rack with slanted support rod, hang the mug with side handle from the angular rack with slanted support rod, then release.", + "Using the arm, secure the ceramic mug with printed logo by edge contact point 0, lift, align the ceramic mug with printed logo with the angled rack with long and short rods, hang the ceramic mug with printed logo on the angled rack with long and short rods, and let go.", + "Send the arm to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift it, carry the cylindrical beige ceramic mug to the rack with angular body, hang the cylindrical beige ceramic mug on the rack with angular body, and release the cylindrical beige ceramic mug.", + "With the arm, approach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the rack with angular body, hang the smooth ceramic mug on the rack with angular body, then let go.", + "Guide the arm to the mug with round handle, grip the mug with round handle at edge contact point 0, lift the mug with round handle, align the mug with round handle with the metallic rack with smooth finish, hang the mug with round handle on the metallic rack with smooth finish, release the mug with round handle.", + "Grab the mug with rounded base at edge contact point 0, lift it, bring it to the medium rack with protruding rods, hang the mug with rounded base on the medium rack with protruding rods, then release the grip.", + "Go to the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift it clear, align it with the smooth rack, hang the mug with rounded base on the smooth rack, and let go.", + "Take the mug with rounded base by edge contact point 0, lift it from its spot, carry the mug with rounded base to the angular rack with slanted support rod, hang the mug with rounded base on the angular rack with slanted support rod, then release the mug with rounded base.", + "With the arm, take hold of the medium beige mug by edge contact point 0, pick it up, bring it to the rack with angular body, hang the medium beige mug on the rack with angular body, then release.", + "Use the arm to grasp the mug with side handle by edge contact point 0, lift the mug with side handle, move toward the angled rack with long and short rods, hang the mug with side handle on the angled rack with long and short rods, then release the mug with side handle.", + "Approach the mug with round handle, take hold of the mug with round handle by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the mug with round handle onto the metallic rack with smooth finish, and let go.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, move it over to the medium rack with protruding rods, hook the beige mug used for drinks onto the medium rack with protruding rods, and release the beige mug used for drinks.", + "Bring the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift it, move to the dark gray rack, hang the mug with logo design on side on the dark gray rack, then let go.", + "Grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring the medium beige mug to the dark gray rack, set the medium beige mug onto the dark gray rack to hang, and release the medium beige mug.", + "Grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base up, move the mug with rounded base to the rack with angular body, hang the mug with rounded base on the rack with angular body, and let go of the mug with rounded base.", + "Pick up the smooth ceramic mug by edge contact point 0, move the smooth ceramic mug to the dark gray rack, hang the smooth ceramic mug on the dark gray rack, and release the smooth ceramic mug once it holds.", + "Hold the mug with round handle at edge contact point 0, lift it up, move toward the dark gray rack, place the mug with round handle onto the dark gray rack to hang, then let go.", + "Reach the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle, carry the cylindrical coffee mug with handle to the rack with two rods sticking out, hang the cylindrical coffee mug with handle on the rack with two rods sticking out, then release the cylindrical coffee mug with handle.", + "Take the mug with rounded base by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the mug with rounded base onto the angular rack with slanted support rod so it hangs, then let go.", + "Direct the arm to grip the beige mug used for drinks at edge contact point 0, pick the beige mug used for drinks up, carry it to the angular rack with slanted support rod, hang the beige mug used for drinks on the angular rack with slanted support rod, and release.", + "Using the arm, take the beige mug used for drinks at edge contact point 0, raise the beige mug used for drinks, move to the metallic angular rack with rod pair, hook the beige mug used for drinks onto the metallic angular rack with rod pair, and release the beige mug used for drinks.", + "Grasp the cylindrical beige ceramic mug at edge contact point 0, lift the cylindrical beige ceramic mug from its spot, carry the cylindrical beige ceramic mug to the dark gray rack, hang the cylindrical beige ceramic mug on the dark gray rack, and release.", + "Hold the smooth ceramic mug using edge contact point 0, lift the smooth ceramic mug up, bring the smooth ceramic mug to the smooth rack, hang the smooth ceramic mug on the smooth rack, then release.", + "Grab the mug with logo design on side at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the mug with logo design on side onto the angled rack with long and short rods so it hangs, then release the mug with logo design on side.", + "Reach for the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base clear, place the mug with rounded base onto the smooth dark gray rack to hang, then release the mug with rounded base.", + "Move the arm toward the mug with side handle, grasp the mug with side handle at edge contact point 0, lift the mug with side handle, carry the mug with side handle to the angled rack with long and short rods, hang the mug with side handle on the angled rack with long and short rods, release the mug with side handle.", + "With the arm, grasp the beige mug used for drinks by edge contact point 0, lift and transport the beige mug used for drinks to the smooth dark gray rack, hang the beige mug used for drinks on the smooth dark gray rack, then let go.", + "Direct the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug clear, move to the rack with two rods sticking out, hang the smooth ceramic mug on the rack with two rods sticking out, release the grip.", + "With the arm, reach the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the ceramic mug with printed logo on the rack with two rods sticking out, then release the ceramic mug with printed logo.", + "Grab the glossy beige ceramic drinking mug at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the glossy beige ceramic drinking mug onto the angular rack with slanted support rod, and release the glossy beige ceramic drinking mug.", + "Take the mug with glossy beige finish by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the mug with glossy beige finish on the rack with angular body, and release your grip.", + "Have the arm reach the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, move to the metallic angular rack with rod pair, hang the mug with rounded base on the metallic angular rack with rod pair, then open the grip.", + "With the arm, take the mug with logo design on side by edge contact point 0, lift the mug with logo design on side clear, move to the rack with angular body, hook the mug with logo design on side onto the rack with angular body, then open the grip.", + "Use the arm to grab the medium beige mug by edge contact point 0, lift the medium beige mug, move over to the angular rack with slanted support rod, hang the medium beige mug on the angular rack with slanted support rod, and release the medium beige mug.", + "Move the arm to the medium beige mug, grasp the medium beige mug by edge contact point 0, lift, carry to the dark gray angled rack, hang the medium beige mug on the dark gray angled rack, release the medium beige mug.", + "Take the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo up, move the ceramic mug with printed logo in front of the metallic angular rack with rod pair, hang the ceramic mug with printed logo onto the metallic angular rack with rod pair, then release the ceramic mug with printed logo.", + "Guide the arm to the mug with glossy beige finish, grip the mug with glossy beige finish by edge contact point 0, pick it up, move to the dark gray rack, hang the mug with glossy beige finish on the dark gray rack, and release.", + "Get to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, bring it to the metal rack, hang the cylindrical beige ceramic mug on the metal rack, and release.", + "Move the arm toward the mug with round handle, grasp the mug with round handle by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the mug with round handle onto the angled rack with long and short rods to hang, then release.", + "Grab the cylindrical beige ceramic mug at edge contact point 0, lift the cylindrical beige ceramic mug, move it to the metallic angular rack with rod pair, hook the cylindrical beige ceramic mug onto the metallic angular rack with rod pair, and release the cylindrical beige ceramic mug.", + "Have the arm grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, bring it to the metallic rack with smooth finish, hang the mug with rounded base from the metallic rack with smooth finish, then release.", + "Using the arm, secure the ceramic mug with printed logo by edge contact point 0, lift, align the ceramic mug with printed logo with the dark gray angled rack, hang the ceramic mug with printed logo on the dark gray angled rack, and let go.", + "Send the arm to the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift it, carry the cylindrical coffee mug with handle to the smooth dark gray rack, hang the cylindrical coffee mug with handle on the smooth dark gray rack, and release the cylindrical coffee mug with handle.", + "With the arm, approach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium rack with protruding rods, hang the smooth ceramic mug on the medium rack with protruding rods, then let go.", + "Guide the arm to the ceramic mug with printed logo, grip the ceramic mug with printed logo at edge contact point 0, lift the ceramic mug with printed logo, align the ceramic mug with printed logo with the metal rack, hang the ceramic mug with printed logo on the metal rack, release the ceramic mug with printed logo.", + "Grab the cylindrical beige ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the cylindrical beige ceramic mug on the smooth rack, then release the grip.", + "Go to the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the mug with rounded base on the smooth dark gray rack, and let go.", + "Take the mug with logo design on side by edge contact point 0, lift it from its spot, carry the mug with logo design on side to the dark gray angled rack, hang the mug with logo design on side on the dark gray angled rack, then release the mug with logo design on side.", + "With the arm, take hold of the ceramic mug with printed logo by edge contact point 0, pick it up, bring it to the metal rack, hang the ceramic mug with printed logo on the metal rack, then release.", + "Use the arm to grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move toward the dark gray rack, hang the cylindrical beige ceramic mug on the dark gray rack, then release the cylindrical beige ceramic mug.", + "Approach the mug with rounded base, take hold of the mug with rounded base by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the mug with rounded base onto the metallic rack with smooth finish, and let go.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, move it over to the smooth rack, hook the beige mug used for drinks onto the smooth rack, and release the beige mug used for drinks.", + "Bring the arm to the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the cylindrical coffee mug with handle on the angular rack with slanted support rod, then let go.", + "Grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring the smooth ceramic mug to the dark gray angled rack, set the smooth ceramic mug onto the dark gray angled rack to hang, and release the smooth ceramic mug.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks up, move the beige mug used for drinks to the rack with angular body, hang the beige mug used for drinks on the rack with angular body, and let go of the beige mug used for drinks.", + "Pick up the medium beige mug by edge contact point 0, move the medium beige mug to the dark gray rack, hang the medium beige mug on the dark gray rack, and release the medium beige mug once it holds.", + "Hold the smooth ceramic mug at edge contact point 0, lift it up, move toward the metal rack, place the smooth ceramic mug onto the metal rack to hang, then let go.", + "Reach the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug, carry the glossy beige ceramic drinking mug to the metal rack, hang the glossy beige ceramic drinking mug on the metal rack, then release the glossy beige ceramic drinking mug.", + "Take the cylindrical coffee mug with handle by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the cylindrical coffee mug with handle onto the metallic rack with smooth finish so it hangs, then let go.", + "Direct the arm to grip the cylindrical beige ceramic mug at edge contact point 0, pick the cylindrical beige ceramic mug up, carry it to the metallic rack with smooth finish, hang the cylindrical beige ceramic mug on the metallic rack with smooth finish, and release.", + "Using the arm, take the mug with side handle at edge contact point 0, raise the mug with side handle, move to the smooth rack, hook the mug with side handle onto the smooth rack, and release the mug with side handle.", + "Grasp the smooth ceramic mug at edge contact point 0, lift the smooth ceramic mug from its spot, carry the smooth ceramic mug to the rack with angular body, hang the smooth ceramic mug on the rack with angular body, and release.", + "Hold the mug with logo design on side using edge contact point 0, lift the mug with logo design on side up, bring the mug with logo design on side to the smooth dark gray rack, hang the mug with logo design on side on the smooth dark gray rack, then release.", + "Grab the mug with side handle at edge contact point 0, raise it, guide it to the metallic rack with smooth finish, set the mug with side handle onto the metallic rack with smooth finish so it hangs, then release the mug with side handle.", + "Reach for the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug clear, place the glossy beige ceramic drinking mug onto the metallic angular rack with rod pair to hang, then release the glossy beige ceramic drinking mug.", + "Move the arm toward the mug with glossy beige finish, grasp the mug with glossy beige finish at edge contact point 0, lift the mug with glossy beige finish, carry the mug with glossy beige finish to the smooth rack, hang the mug with glossy beige finish on the smooth rack, release the mug with glossy beige finish.", + "With the arm, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift and transport the glossy beige ceramic drinking mug to the angular rack with slanted support rod, hang the glossy beige ceramic drinking mug on the angular rack with slanted support rod, then let go.", + "Direct the arm to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo clear, move to the medium rack with protruding rods, hang the ceramic mug with printed logo on the medium rack with protruding rods, release the grip.", + "With the arm, reach the medium beige mug, grasp the medium beige mug by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the medium beige mug on the metallic angular rack with rod pair, then release the medium beige mug.", + "Grab the mug with round handle at edge contact point 0, pick it up, move it over to the rack with angular body, hang the mug with round handle onto the rack with angular body, and release the mug with round handle.", + "Take the smooth ceramic mug by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the smooth ceramic mug on the metallic angular rack with rod pair, and release your grip.", + "Have the arm reach the mug with side handle, grasp the mug with side handle by edge contact point 0, lift the mug with side handle, move to the angled rack with long and short rods, hang the mug with side handle on the angled rack with long and short rods, then open the grip.", + "With the arm, take the medium beige mug by edge contact point 0, lift the medium beige mug clear, move to the rack with angular body, hook the medium beige mug onto the rack with angular body, then open the grip.", + "Use the arm to grab the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, move over to the rack with two rods sticking out, hang the beige mug used for drinks on the rack with two rods sticking out, and release the beige mug used for drinks.", + "Move the arm to the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift, carry to the rack with angular body, hang the mug with glossy beige finish on the rack with angular body, release the mug with glossy beige finish.", + "Take the mug with side handle by edge contact point 0, lift the mug with side handle up, move the mug with side handle in front of the metal rack, hang the mug with side handle onto the metal rack, then release the mug with side handle.", + "Guide the arm to the cylindrical coffee mug with handle, grip the cylindrical coffee mug with handle by edge contact point 0, pick it up, move to the smooth rack, hang the cylindrical coffee mug with handle on the smooth rack, and release.", + "Get to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, bring it to the rack with angular body, hang the ceramic mug with printed logo on the rack with angular body, and release.", + "Move the arm toward the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the mug with logo design on side onto the angled rack with long and short rods to hang, then release.", + "Grab the cylindrical beige ceramic mug at edge contact point 0, lift the cylindrical beige ceramic mug, move it to the medium rack with protruding rods, hook the cylindrical beige ceramic mug onto the medium rack with protruding rods, and release the cylindrical beige ceramic mug.", + "Have the arm grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle, bring it to the smooth dark gray rack, hang the cylindrical coffee mug with handle from the smooth dark gray rack, then release.", + "Using the arm, secure the medium beige mug by edge contact point 0, lift, align the medium beige mug with the smooth dark gray rack, hang the medium beige mug on the smooth dark gray rack, and let go.", + "Send the arm to the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift it, carry the mug with rounded base to the metallic angular rack with rod pair, hang the mug with rounded base on the metallic angular rack with rod pair, and release the mug with rounded base.", + "With the arm, approach the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, bring it to the rack with angular body, hang the ceramic mug with printed logo on the rack with angular body, then let go.", + "Guide the arm to the medium beige mug, grip the medium beige mug at edge contact point 0, lift the medium beige mug, align the medium beige mug with the metallic angular rack with rod pair, hang the medium beige mug on the metallic angular rack with rod pair, release the medium beige mug.", + "Grab the mug with side handle at edge contact point 0, lift it, bring it to the dark gray rack, hang the mug with side handle on the dark gray rack, then release the grip.", + "Go to the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the mug with glossy beige finish on the metallic rack with smooth finish, and let go.", + "Take the medium beige mug by edge contact point 0, lift it from its spot, carry the medium beige mug to the angular rack with slanted support rod, hang the medium beige mug on the angular rack with slanted support rod, then release the medium beige mug.", + "With the arm, take hold of the mug with glossy beige finish by edge contact point 0, pick it up, bring it to the metal rack, hang the mug with glossy beige finish on the metal rack, then release.", + "Use the arm to grasp the medium beige mug by edge contact point 0, lift the medium beige mug, move toward the medium rack with protruding rods, hang the medium beige mug on the medium rack with protruding rods, then release the medium beige mug.", + "Approach the mug with side handle, take hold of the mug with side handle by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the mug with side handle onto the metallic angular rack with rod pair, and let go.", + "Grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move it over to the rack with angular body, hook the smooth ceramic mug onto the rack with angular body, and release the smooth ceramic mug.", + "Bring the arm to the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift it, move to the metal rack, hang the glossy beige ceramic drinking mug on the metal rack, then let go.", + "Grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring the medium beige mug to the metallic angular rack with rod pair, set the medium beige mug onto the metallic angular rack with rod pair to hang, and release the medium beige mug.", + "Grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base up, move the mug with rounded base to the dark gray rack, hang the mug with rounded base on the dark gray rack, and let go of the mug with rounded base.", + "Pick up the beige mug used for drinks by edge contact point 0, move the beige mug used for drinks to the rack with angular body, hang the beige mug used for drinks on the rack with angular body, and release the beige mug used for drinks once it holds." + ], + "unseen": [ + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode3.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..a6296a9f30a039bc04dd30881b7aa2df85da99cd --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the black mug at edge contact point 0, raise it, guide it to the rack with angular body, set the black mug onto the rack with angular body so it hangs, then release the black mug.", + "Grasp the mug with rounded handle at edge contact point 0, lift the mug with rounded handle from its spot, carry the mug with rounded handle to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, and release.", + "Using the arm, secure the solid black ceramic mug by edge contact point 0, lift, align the solid black ceramic mug with the angled rack with long and short rods, hang the solid black ceramic mug on the angled rack with long and short rods, and let go.", + "With the arm, approach the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, bring it to the medium rack with protruding rods, hang the cylindrical black mug on the medium rack with protruding rods, then let go.", + "Guide the arm to the cylindrical black mug, grip the cylindrical black mug by edge contact point 0, pick it up, move to the dark gray angled rack, hang the cylindrical black mug on the dark gray angled rack, and release.", + "Grab the black mug for liquids at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the black mug for liquids onto the smooth dark gray rack, and release the black mug for liquids.", + "Have the arm reach the black mug with handle, grasp the black mug with handle by edge contact point 0, lift the black mug with handle, move to the dark gray rack, hang the black mug with handle on the dark gray rack, then open the grip.", + "Use the arm to grasp the black mug by edge contact point 0, lift the black mug, move toward the angled rack with long and short rods, hang the black mug on the angled rack with long and short rods, then release the black mug.", + "Pick up the mug with thick sturdy handle by edge contact point 0, move the mug with thick sturdy handle to the rack with two rods sticking out, hang the mug with thick sturdy handle on the rack with two rods sticking out, and release the mug with thick sturdy handle once it holds.", + "Hold the drinking mug using edge contact point 0, lift the drinking mug up, bring the drinking mug to the dark gray rack, hang the drinking mug on the dark gray rack, then release.", + "Hold the mug with thick sturdy handle at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the mug with thick sturdy handle onto the angled rack with long and short rods to hang, then let go.", + "Move the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the cylindrical black mug on the rack with two rods sticking out, release the cylindrical black mug.", + "Grab the drinking mug at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the drinking mug on the dark gray angled rack, then release the grip.", + "With the arm, take the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, move to the angled rack with long and short rods, hook the cylindrical black mug onto the angled rack with long and short rods, then open the grip.", + "Direct the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, move to the smooth dark gray rack, hang the cylindrical black mug on the smooth dark gray rack, release the grip.", + "Have the arm grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring it to the dark gray angled rack, hang the mug with thick sturdy handle from the dark gray angled rack, then release.", + "With the arm, reach the solid black ceramic mug, grasp the solid black ceramic mug by edge contact point 0, lift, align it to the metal rack, hang the solid black ceramic mug on the metal rack, then release the solid black ceramic mug.", + "Use the arm to grab the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, move over to the metallic angular rack with rod pair, hang the black mug with smooth surface on the metallic angular rack with rod pair, and release the black mug with smooth surface.", + "Using the arm, take the drinking mug at edge contact point 0, raise the drinking mug, move to the smooth rack, hook the drinking mug onto the smooth rack, and release the drinking mug.", + "Grab the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, move it to the smooth dark gray rack, hook the hand-sized black mug onto the smooth dark gray rack, and release the hand-sized black mug.", + "Get to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring it to the metallic angular rack with rod pair, hang the hand-sized black mug on the metallic angular rack with rod pair, and release.", + "Direct the arm to grip the smooth black ceramic mug at edge contact point 0, pick the smooth black ceramic mug up, carry it to the metallic rack with smooth finish, hang the smooth black ceramic mug on the metallic rack with smooth finish, and release.", + "Approach the hand-sized black mug, take hold of the hand-sized black mug by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the hand-sized black mug onto the angled rack with long and short rods, and let go.", + "Grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move it over to the rack with two rods sticking out, hook the hand-sized black mug onto the rack with two rods sticking out, and release the hand-sized black mug.", + "With the arm, grasp the solid black ceramic mug by edge contact point 0, lift and transport the solid black ceramic mug to the metallic rack with smooth finish, hang the solid black ceramic mug on the metallic rack with smooth finish, then let go.", + "Reach the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, carry the black mug for liquids to the smooth rack, hang the black mug for liquids on the smooth rack, then release the black mug for liquids.", + "Take the smooth black ceramic mug by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the smooth black ceramic mug on the medium rack with protruding rods, and release your grip.", + "Bring the arm to the black mug, grasp the black mug by edge contact point 0, lift it, move to the rack with angular body, hang the black mug on the rack with angular body, then let go.", + "Move the arm toward the hand-sized black mug, grasp the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, carry the hand-sized black mug to the dark gray rack, hang the hand-sized black mug on the dark gray rack, release the hand-sized black mug.", + "Take the black coffee mug by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the black coffee mug onto the smooth dark gray rack so it hangs, then let go.", + "Guide the arm to the smooth black ceramic mug, grip the smooth black ceramic mug at edge contact point 0, lift the smooth black ceramic mug, align the smooth black ceramic mug with the rack with two rods sticking out, hang the smooth black ceramic mug on the rack with two rods sticking out, release the smooth black ceramic mug.", + "Grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug, bring the solid black ceramic mug to the rack with angular body, set the solid black ceramic mug onto the rack with angular body to hang, and release the solid black ceramic mug.", + "Go to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift it clear, align it with the rack with angular body, hang the hand-sized black mug on the rack with angular body, and let go.", + "With the arm, take hold of the black coffee mug by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the black coffee mug on the angled rack with long and short rods, then release.", + "Take the black mug with handle by edge contact point 0, lift it from its spot, carry the black mug with handle to the angular rack with slanted support rod, hang the black mug with handle on the angular rack with slanted support rod, then release the black mug with handle.", + "Take the black mug with handle by edge contact point 0, lift the black mug with handle up, move the black mug with handle in front of the rack with two rods sticking out, hang the black mug with handle onto the rack with two rods sticking out, then release the black mug with handle.", + "Move the arm toward the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift it, travel to the smooth rack, place the mug with thick sturdy handle onto the smooth rack to hang, then release.", + "Reach for the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug clear, place the hand-sized black mug onto the metallic angular rack with rod pair to hang, then release the hand-sized black mug.", + "Send the arm to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift it, carry the black mug with handle to the smooth rack, hang the black mug with handle on the smooth rack, and release the black mug with handle.", + "Grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug up, move the cylindrical black mug to the smooth rack, hang the cylindrical black mug on the smooth rack, and let go of the cylindrical black mug.", + "Grab the black mug with handle at edge contact point 0, raise it, guide it to the smooth rack, set the black mug with handle onto the smooth rack so it hangs, then release the black mug with handle.", + "Grasp the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle from its spot, carry the mug with thick sturdy handle to the rack with two rods sticking out, hang the mug with thick sturdy handle on the rack with two rods sticking out, and release.", + "Using the arm, secure the black mug with handle by edge contact point 0, lift, align the black mug with handle with the rack with two rods sticking out, hang the black mug with handle on the rack with two rods sticking out, and let go.", + "With the arm, approach the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, bring it to the angled rack with long and short rods, hang the mug with rounded handle on the angled rack with long and short rods, then let go.", + "Guide the arm to the solid black ceramic mug, grip the solid black ceramic mug by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the solid black ceramic mug on the smooth dark gray rack, and release.", + "Grab the cylindrical black mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the cylindrical black mug onto the rack with two rods sticking out, and release the cylindrical black mug.", + "Have the arm reach the black coffee mug, grasp the black coffee mug by edge contact point 0, lift the black coffee mug, move to the dark gray rack, hang the black coffee mug on the dark gray rack, then open the grip.", + "Use the arm to grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, move toward the smooth dark gray rack, hang the mug with thick sturdy handle on the smooth dark gray rack, then release the mug with thick sturdy handle.", + "Pick up the drinking mug by edge contact point 0, move the drinking mug to the angular rack with slanted support rod, hang the drinking mug on the angular rack with slanted support rod, and release the drinking mug once it holds.", + "Hold the mug with rounded handle using edge contact point 0, lift the mug with rounded handle up, bring the mug with rounded handle to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, then release.", + "Hold the solid black ceramic mug at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the solid black ceramic mug onto the rack with two rods sticking out to hang, then let go.", + "Move the arm to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift, carry to the dark gray rack, hang the mug with rounded handle on the dark gray rack, release the mug with rounded handle.", + "Grab the hand-sized black mug at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the hand-sized black mug on the metallic angular rack with rod pair, then release the grip.", + "With the arm, take the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, move to the metallic rack with smooth finish, hook the cylindrical black mug onto the metallic rack with smooth finish, then open the grip.", + "Direct the arm to the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug clear, move to the smooth rack, hang the smooth black ceramic mug on the smooth rack, release the grip.", + "Have the arm grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring it to the metallic angular rack with rod pair, hang the black mug for liquids from the metallic angular rack with rod pair, then release.", + "With the arm, reach the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift, align it to the dark gray rack, hang the mug with rounded handle on the dark gray rack, then release the mug with rounded handle.", + "Use the arm to grab the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move over to the metallic rack with smooth finish, hang the smooth black ceramic mug on the metallic rack with smooth finish, and release the smooth black ceramic mug.", + "Using the arm, take the black mug with handle at edge contact point 0, raise the black mug with handle, move to the smooth rack, hook the black mug with handle onto the smooth rack, and release the black mug with handle.", + "Grab the black mug with handle at edge contact point 0, lift the black mug with handle, move it to the smooth dark gray rack, hook the black mug with handle onto the smooth dark gray rack, and release the black mug with handle.", + "Get to the black mug, grasp the black mug by edge contact point 0, lift the black mug, bring it to the smooth rack, hang the black mug on the smooth rack, and release.", + "Direct the arm to grip the smooth black ceramic mug at edge contact point 0, pick the smooth black ceramic mug up, carry it to the smooth dark gray rack, hang the smooth black ceramic mug on the smooth dark gray rack, and release.", + "Approach the black mug, take hold of the black mug by edge contact point 0, raise it, bring it to the rack with angular body, hook the black mug onto the rack with angular body, and let go.", + "Grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, move it over to the dark gray angled rack, hook the black mug with smooth surface onto the dark gray angled rack, and release the black mug with smooth surface.", + "With the arm, grasp the cylindrical black mug by edge contact point 0, lift and transport the cylindrical black mug to the medium rack with protruding rods, hang the cylindrical black mug on the medium rack with protruding rods, then let go.", + "Reach the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, carry the smooth black ceramic mug to the medium rack with protruding rods, hang the smooth black ceramic mug on the medium rack with protruding rods, then release the smooth black ceramic mug.", + "Take the black mug with smooth surface by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the black mug with smooth surface on the angled rack with long and short rods, and release your grip.", + "Bring the arm to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it, move to the smooth dark gray rack, hang the mug with rounded handle on the smooth dark gray rack, then let go.", + "Move the arm toward the drinking mug, grasp the drinking mug at edge contact point 0, lift the drinking mug, carry the drinking mug to the dark gray rack, hang the drinking mug on the dark gray rack, release the drinking mug.", + "Take the cylindrical black mug by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the cylindrical black mug onto the metallic angular rack with rod pair so it hangs, then let go.", + "Guide the arm to the mug with thick sturdy handle, grip the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, align the mug with thick sturdy handle with the metallic rack with smooth finish, hang the mug with thick sturdy handle on the metallic rack with smooth finish, release the mug with thick sturdy handle.", + "Grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, bring the smooth black ceramic mug to the angular rack with slanted support rod, set the smooth black ceramic mug onto the angular rack with slanted support rod to hang, and release the smooth black ceramic mug.", + "Go to the black mug, grasp the black mug by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the black mug on the metallic rack with smooth finish, and let go.", + "With the arm, take hold of the drinking mug by edge contact point 0, pick it up, bring it to the angular rack with slanted support rod, hang the drinking mug on the angular rack with slanted support rod, then release.", + "Take the solid black ceramic mug by edge contact point 0, lift it from its spot, carry the solid black ceramic mug to the smooth dark gray rack, hang the solid black ceramic mug on the smooth dark gray rack, then release the solid black ceramic mug.", + "Take the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle up, move the mug with thick sturdy handle in front of the smooth rack, hang the mug with thick sturdy handle onto the smooth rack, then release the mug with thick sturdy handle.", + "Move the arm toward the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift it, travel to the metal rack, place the mug with thick sturdy handle onto the metal rack to hang, then release.", + "Reach for the black mug with handle, grasp the black mug with handle by edge contact point 0, lift the black mug with handle clear, place the black mug with handle onto the angled rack with long and short rods to hang, then release the black mug with handle.", + "Send the arm to the black coffee mug, grasp the black coffee mug by edge contact point 0, lift it, carry the black coffee mug to the smooth dark gray rack, hang the black coffee mug on the smooth dark gray rack, and release the black coffee mug.", + "Grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug up, move the smooth black ceramic mug to the metallic angular rack with rod pair, hang the smooth black ceramic mug on the metallic angular rack with rod pair, and let go of the smooth black ceramic mug.", + "Grab the hand-sized black mug at edge contact point 0, raise it, guide it to the dark gray angled rack, set the hand-sized black mug onto the dark gray angled rack so it hangs, then release the hand-sized black mug.", + "Grasp the black mug with smooth surface at edge contact point 0, lift the black mug with smooth surface from its spot, carry the black mug with smooth surface to the dark gray angled rack, hang the black mug with smooth surface on the dark gray angled rack, and release.", + "Using the arm, secure the smooth black ceramic mug by edge contact point 0, lift, align the smooth black ceramic mug with the angular rack with slanted support rod, hang the smooth black ceramic mug on the angular rack with slanted support rod, and let go.", + "With the arm, approach the drinking mug, grasp the drinking mug by edge contact point 0, lift the drinking mug, bring it to the metal rack, hang the drinking mug on the metal rack, then let go.", + "Guide the arm to the mug with thick sturdy handle, grip the mug with thick sturdy handle by edge contact point 0, pick it up, move to the rack with angular body, hang the mug with thick sturdy handle on the rack with angular body, and release.", + "Grab the solid black ceramic mug at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the solid black ceramic mug onto the smooth dark gray rack, and release the solid black ceramic mug.", + "Have the arm reach the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, move to the smooth dark gray rack, hang the black mug for liquids on the smooth dark gray rack, then open the grip.", + "Use the arm to grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, move toward the metallic angular rack with rod pair, hang the mug with rounded handle on the metallic angular rack with rod pair, then release the mug with rounded handle.", + "Pick up the black coffee mug by edge contact point 0, move the black coffee mug to the smooth dark gray rack, hang the black coffee mug on the smooth dark gray rack, and release the black coffee mug once it holds.", + "Hold the black mug with smooth surface using edge contact point 0, lift the black mug with smooth surface up, bring the black mug with smooth surface to the angled rack with long and short rods, hang the black mug with smooth surface on the angled rack with long and short rods, then release.", + "Hold the black coffee mug at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the black coffee mug onto the metallic rack with smooth finish to hang, then let go.", + "Move the arm to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift, carry to the dark gray angled rack, hang the hand-sized black mug on the dark gray angled rack, release the hand-sized black mug.", + "Grab the black mug for liquids at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the black mug for liquids on the dark gray angled rack, then release the grip.", + "With the arm, take the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface clear, move to the metallic rack with smooth finish, hook the black mug with smooth surface onto the metallic rack with smooth finish, then open the grip.", + "Direct the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, move to the metallic angular rack with rod pair, hang the cylindrical black mug on the metallic angular rack with rod pair, release the grip.", + "Have the arm grasp the black mug by edge contact point 0, lift the black mug, bring it to the medium rack with protruding rods, hang the black mug from the medium rack with protruding rods, then release.", + "With the arm, reach the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift, align it to the metal rack, hang the smooth black ceramic mug on the metal rack, then release the smooth black ceramic mug.", + "Use the arm to grab the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, move over to the dark gray rack, hang the cylindrical black mug on the dark gray rack, and release the cylindrical black mug.", + "Using the arm, take the solid black ceramic mug at edge contact point 0, raise the solid black ceramic mug, move to the smooth dark gray rack, hook the solid black ceramic mug onto the smooth dark gray rack, and release the solid black ceramic mug.", + "Grab the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, move it to the smooth rack, hook the hand-sized black mug onto the smooth rack, and release the hand-sized black mug." + ], + "unseen": [ + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium black mug on the medium-sized rack, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release the medium black mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go of the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium black mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release the matte black mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go of the medium black mug.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release the matte black mug.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode30.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..f6f2b00430f6b8cc05f6a03797d2fe86c4e3aac9 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the arm, take the medium mug with handle at edge contact point 0, raise the medium mug with handle, move to the metallic angular rack with rod pair, hook the medium mug with handle onto the metallic angular rack with rod pair, and release the medium mug with handle.", + "With the arm, reach the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift, align it to the smooth rack, hang the ceramic mug for hot drinks on the smooth rack, then release the ceramic mug for hot drinks.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move it over to the smooth rack, hook the ceramic mug onto the smooth rack, and release the ceramic mug.", + "Grab the smooth dark green mug at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the smooth dark green mug on the angular rack with slanted support rod, then release the grip.", + "Have the arm grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring it to the angular rack with slanted support rod, hang the starbucks green mug from the angular rack with slanted support rod, then release.", + "Guide the arm to the logo mug, grip the logo mug by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the logo mug on the angular rack with slanted support rod, and release.", + "Guide the arm to the medium mug with handle, grip the medium mug with handle at edge contact point 0, lift the medium mug with handle, align the medium mug with handle with the medium rack with protruding rods, hang the medium mug with handle on the medium rack with protruding rods, release the medium mug with handle.", + "Hold the green mug using edge contact point 0, lift the green mug up, bring the green mug to the metallic rack with smooth finish, hang the green mug on the metallic rack with smooth finish, then release.", + "Move the arm to the green mug, grasp the green mug by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the green mug on the angled rack with long and short rods, release the green mug.", + "Grab the green drinking mug at edge contact point 0, raise it, guide it to the metallic rack with smooth finish, set the green drinking mug onto the metallic rack with smooth finish so it hangs, then release the green drinking mug.", + "Pick up the medium-sized smooth green Starbucks mug by edge contact point 0, move the medium-sized smooth green Starbucks mug to the metallic angular rack with rod pair, hang the medium-sized smooth green Starbucks mug on the metallic angular rack with rod pair, and release the medium-sized smooth green Starbucks mug once it holds.", + "With the arm, take the green drinking mug by edge contact point 0, lift the green drinking mug clear, move to the angular rack with slanted support rod, hook the green drinking mug onto the angular rack with slanted support rod, then open the grip.", + "Get to the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, bring it to the dark gray angled rack, hang the medium mug with handle on the dark gray angled rack, and release.", + "Move the arm toward the logo mug, grasp the logo mug at edge contact point 0, lift the logo mug, carry the logo mug to the dark gray angled rack, hang the logo mug on the dark gray angled rack, release the logo mug.", + "Grasp the logo mug by edge contact point 0, lift the logo mug, bring the logo mug to the rack with angular body, set the logo mug onto the rack with angular body to hang, and release the logo mug.", + "Grab the green mug at edge contact point 0, lift the green mug, move it to the metal rack, hook the green mug onto the metal rack, and release the green mug.", + "With the arm, take hold of the medium-sized smooth green Starbucks mug by edge contact point 0, pick it up, bring it to the metal rack, hang the medium-sized smooth green Starbucks mug on the metal rack, then release.", + "Direct the arm to grip the smooth dark green mug at edge contact point 0, pick the smooth dark green mug up, carry it to the metallic rack with smooth finish, hang the smooth dark green mug on the metallic rack with smooth finish, and release.", + "Take the medium mug with handle by edge contact point 0, lift it, bring it over to the dark gray rack, place the medium mug with handle onto the dark gray rack so it hangs, then let go.", + "Reach the green mug, grasp the green mug by edge contact point 0, lift the green mug, carry the green mug to the rack with two rods sticking out, hang the green mug on the rack with two rods sticking out, then release the green mug.", + "Move the arm toward the logo mug, grasp the logo mug by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the logo mug onto the metallic angular rack with rod pair to hang, then release.", + "Approach the ceramic mug for hot drinks, take hold of the ceramic mug for hot drinks by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the ceramic mug for hot drinks onto the dark gray angled rack, and let go.", + "Reach for the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug clear, place the logo mug onto the angular rack with slanted support rod to hang, then release the logo mug.", + "Take the starbucks green mug by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the starbucks green mug on the dark gray angled rack, and release your grip.", + "With the arm, approach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, bring it to the angled rack with long and short rods, hang the logo mug on the angled rack with long and short rods, then let go.", + "Direct the arm to the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug clear, move to the metal rack, hang the starbucks green mug on the metal rack, release the grip.", + "Take the logo mug by edge contact point 0, lift it from its spot, carry the logo mug to the metallic rack with smooth finish, hang the logo mug on the metallic rack with smooth finish, then release the logo mug.", + "Grab the logo mug at edge contact point 0, pick it up, move it over to the angled rack with long and short rods, hang the logo mug onto the angled rack with long and short rods, and release the logo mug.", + "Send the arm to the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift it, carry the dark green ceramic cup to the angular rack with slanted support rod, hang the dark green ceramic cup on the angular rack with slanted support rod, and release the dark green ceramic cup.", + "With the arm, grasp the green drinking mug by edge contact point 0, lift and transport the green drinking mug to the smooth rack, hang the green drinking mug on the smooth rack, then let go.", + "Take the round mug with one handle by edge contact point 0, lift the round mug with one handle up, move the round mug with one handle in front of the rack with angular body, hang the round mug with one handle onto the rack with angular body, then release the round mug with one handle.", + "Use the arm to grasp the green drinking mug by edge contact point 0, lift the green drinking mug, move toward the metallic angular rack with rod pair, hang the green drinking mug on the metallic angular rack with rod pair, then release the green drinking mug.", + "Use the arm to grab the logo mug by edge contact point 0, lift the logo mug, move over to the metal rack, hang the logo mug on the metal rack, and release the logo mug.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug to the metal rack, hang the ceramic mug on the metal rack, and let go of the ceramic mug.", + "Go to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the ceramic mug for hot drinks on the angled rack with long and short rods, and let go.", + "Bring the arm to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the medium-sized smooth green Starbucks mug on the angular rack with slanted support rod, then let go.", + "Hold the green drinking mug at edge contact point 0, lift it up, move toward the metallic angular rack with rod pair, place the green drinking mug onto the metallic angular rack with rod pair to hang, then let go.", + "Grasp the ceramic mug for hot drinks at edge contact point 0, lift the ceramic mug for hot drinks from its spot, carry the ceramic mug for hot drinks to the metal rack, hang the ceramic mug for hot drinks on the metal rack, and release.", + "Using the arm, secure the round mug with one handle by edge contact point 0, lift, align the round mug with one handle with the smooth rack, hang the round mug with one handle on the smooth rack, and let go.", + "Have the arm reach the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move to the metallic angular rack with rod pair, hang the dark green ceramic cup on the metallic angular rack with rod pair, then open the grip.", + "Using the arm, take the smooth dark green mug at edge contact point 0, raise the smooth dark green mug, move to the metal rack, hook the smooth dark green mug onto the metal rack, and release the smooth dark green mug.", + "With the arm, reach the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the smooth dark green mug on the angled rack with long and short rods, then release the smooth dark green mug.", + "Grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, move it over to the smooth rack, hook the Starbucks branded coffee mug onto the smooth rack, and release the Starbucks branded coffee mug.", + "Grab the dark green ceramic cup at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the dark green ceramic cup on the metallic angular rack with rod pair, then release the grip.", + "Have the arm grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray angled rack, hang the ceramic mug from the dark gray angled rack, then release.", + "Guide the arm to the Starbucks branded coffee mug, grip the Starbucks branded coffee mug by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the Starbucks branded coffee mug on the metallic rack with smooth finish, and release.", + "Guide the arm to the dark green ceramic cup, grip the dark green ceramic cup at edge contact point 0, lift the dark green ceramic cup, align the dark green ceramic cup with the medium rack with protruding rods, hang the dark green ceramic cup on the medium rack with protruding rods, release the dark green ceramic cup.", + "Hold the round mug with one handle using edge contact point 0, lift the round mug with one handle up, bring the round mug with one handle to the dark gray angled rack, hang the round mug with one handle on the dark gray angled rack, then release.", + "Move the arm to the logo mug, grasp the logo mug by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the logo mug on the angular rack with slanted support rod, release the logo mug.", + "Grab the green drinking mug at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the green drinking mug onto the medium rack with protruding rods so it hangs, then release the green drinking mug.", + "Pick up the dark green ceramic cup by edge contact point 0, move the dark green ceramic cup to the medium rack with protruding rods, hang the dark green ceramic cup on the medium rack with protruding rods, and release the dark green ceramic cup once it holds.", + "With the arm, take the medium mug with handle by edge contact point 0, lift the medium mug with handle clear, move to the angular rack with slanted support rod, hook the medium mug with handle onto the angular rack with slanted support rod, then open the grip.", + "Get to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, bring it to the smooth dark gray rack, hang the ceramic mug for hot drinks on the smooth dark gray rack, and release.", + "Move the arm toward the logo mug, grasp the logo mug at edge contact point 0, lift the logo mug, carry the logo mug to the metallic angular rack with rod pair, hang the logo mug on the metallic angular rack with rod pair, release the logo mug.", + "Grasp the logo mug by edge contact point 0, lift the logo mug, bring the logo mug to the angular rack with slanted support rod, set the logo mug onto the angular rack with slanted support rod to hang, and release the logo mug.", + "Grab the round mug with one handle at edge contact point 0, lift the round mug with one handle, move it to the angled rack with long and short rods, hook the round mug with one handle onto the angled rack with long and short rods, and release the round mug with one handle.", + "With the arm, take hold of the round mug with one handle by edge contact point 0, pick it up, bring it to the metal rack, hang the round mug with one handle on the metal rack, then release.", + "Direct the arm to grip the logo mug at edge contact point 0, pick the logo mug up, carry it to the angled rack with long and short rods, hang the logo mug on the angled rack with long and short rods, and release.", + "Take the dark green ceramic cup by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the dark green ceramic cup onto the medium rack with protruding rods so it hangs, then let go.", + "Reach the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, carry the Starbucks branded coffee mug to the medium rack with protruding rods, hang the Starbucks branded coffee mug on the medium rack with protruding rods, then release the Starbucks branded coffee mug.", + "Move the arm toward the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the green drinking mug onto the metallic rack with smooth finish to hang, then release.", + "Approach the ceramic mug, take hold of the ceramic mug by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the ceramic mug onto the metallic rack with smooth finish, and let go.", + "Reach for the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks clear, place the ceramic mug for hot drinks onto the rack with two rods sticking out to hang, then release the ceramic mug for hot drinks.", + "Take the medium mug with handle by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the medium mug with handle on the medium rack with protruding rods, and release your grip.", + "With the arm, approach the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, bring it to the angled rack with long and short rods, hang the medium mug with handle on the angled rack with long and short rods, then let go.", + "Direct the arm to the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug clear, move to the rack with two rods sticking out, hang the logo mug on the rack with two rods sticking out, release the grip.", + "Take the Starbucks branded coffee mug by edge contact point 0, lift it from its spot, carry the Starbucks branded coffee mug to the rack with angular body, hang the Starbucks branded coffee mug on the rack with angular body, then release the Starbucks branded coffee mug.", + "Grab the round mug with one handle at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the round mug with one handle onto the medium rack with protruding rods, and release the round mug with one handle.", + "Send the arm to the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift it, carry the starbucks green mug to the dark gray angled rack, hang the starbucks green mug on the dark gray angled rack, and release the starbucks green mug.", + "With the arm, grasp the green drinking mug by edge contact point 0, lift and transport the green drinking mug to the rack with angular body, hang the green drinking mug on the rack with angular body, then let go.", + "Take the starbucks green mug by edge contact point 0, lift the starbucks green mug up, move the starbucks green mug in front of the metal rack, hang the starbucks green mug onto the metal rack, then release the starbucks green mug.", + "Use the arm to grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, move toward the rack with two rods sticking out, hang the Starbucks branded coffee mug on the rack with two rods sticking out, then release the Starbucks branded coffee mug.", + "Use the arm to grab the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, move over to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, and release the smooth dark green mug.", + "Grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug up, move the smooth dark green mug to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, and let go of the smooth dark green mug.", + "Go to the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the Starbucks branded coffee mug on the metallic rack with smooth finish, and let go.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, then let go.", + "Hold the starbucks green mug at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the starbucks green mug onto the angled rack with long and short rods to hang, then let go.", + "Grasp the ceramic mug at edge contact point 0, lift the ceramic mug from its spot, carry the ceramic mug to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and release.", + "Using the arm, secure the ceramic mug for hot drinks by edge contact point 0, lift, align the ceramic mug for hot drinks with the metallic angular rack with rod pair, hang the ceramic mug for hot drinks on the metallic angular rack with rod pair, and let go.", + "Have the arm reach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, move to the rack with angular body, hang the logo mug on the rack with angular body, then open the grip.", + "Using the arm, take the dark green ceramic cup at edge contact point 0, raise the dark green ceramic cup, move to the metallic rack with smooth finish, hook the dark green ceramic cup onto the metallic rack with smooth finish, and release the dark green ceramic cup.", + "With the arm, reach the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the dark green ceramic cup on the angular rack with slanted support rod, then release the dark green ceramic cup.", + "Grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, move it over to the smooth dark gray rack, hook the starbucks green mug onto the smooth dark gray rack, and release the starbucks green mug.", + "Grab the smooth dark green mug at edge contact point 0, lift it, bring it to the smooth rack, hang the smooth dark green mug on the smooth rack, then release the grip.", + "Have the arm grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, bring it to the angled rack with long and short rods, hang the dark green ceramic cup from the angled rack with long and short rods, then release.", + "Guide the arm to the medium mug with handle, grip the medium mug with handle by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the medium mug with handle on the medium rack with protruding rods, and release.", + "Guide the arm to the green drinking mug, grip the green drinking mug at edge contact point 0, lift the green drinking mug, align the green drinking mug with the dark gray rack, hang the green drinking mug on the dark gray rack, release the green drinking mug.", + "Hold the green drinking mug using edge contact point 0, lift the green drinking mug up, bring the green drinking mug to the smooth rack, hang the green drinking mug on the smooth rack, then release.", + "Move the arm to the green drinking mug, grasp the green drinking mug by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the green drinking mug on the metallic rack with smooth finish, release the green drinking mug.", + "Grab the smooth dark green mug at edge contact point 0, raise it, guide it to the dark gray rack, set the smooth dark green mug onto the dark gray rack so it hangs, then release the smooth dark green mug.", + "Pick up the Starbucks branded coffee mug by edge contact point 0, move the Starbucks branded coffee mug to the rack with angular body, hang the Starbucks branded coffee mug on the rack with angular body, and release the Starbucks branded coffee mug once it holds.", + "With the arm, take the starbucks green mug by edge contact point 0, lift the starbucks green mug clear, move to the smooth dark gray rack, hook the starbucks green mug onto the smooth dark gray rack, then open the grip.", + "Get to the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring it to the dark gray angled rack, hang the starbucks green mug on the dark gray angled rack, and release.", + "Move the arm toward the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks at edge contact point 0, lift the ceramic mug for hot drinks, carry the ceramic mug for hot drinks to the angled rack with long and short rods, hang the ceramic mug for hot drinks on the angled rack with long and short rods, release the ceramic mug for hot drinks.", + "Grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, bring the medium-sized smooth green Starbucks mug to the rack with angular body, set the medium-sized smooth green Starbucks mug onto the rack with angular body to hang, and release the medium-sized smooth green Starbucks mug.", + "Grab the medium-sized smooth green Starbucks mug at edge contact point 0, lift the medium-sized smooth green Starbucks mug, move it to the metallic angular rack with rod pair, hook the medium-sized smooth green Starbucks mug onto the metallic angular rack with rod pair, and release the medium-sized smooth green Starbucks mug.", + "With the arm, take hold of the ceramic mug by edge contact point 0, pick it up, bring it to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, then release.", + "Direct the arm to grip the medium-sized smooth green Starbucks mug at edge contact point 0, pick the medium-sized smooth green Starbucks mug up, carry it to the angular rack with slanted support rod, hang the medium-sized smooth green Starbucks mug on the angular rack with slanted support rod, and release.", + "Take the round mug with one handle by edge contact point 0, lift it, bring it over to the rack with angular body, place the round mug with one handle onto the rack with angular body so it hangs, then let go.", + "Reach the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, carry the smooth dark green mug to the rack with two rods sticking out, hang the smooth dark green mug on the rack with two rods sticking out, then release the smooth dark green mug." + ], + "unseen": [ + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release the dark mug with a curved handle.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release the dark mug with a curved handle.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release the cylindrical mug with Starbucks logo.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release the dark mug with a curved handle.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release the dark mug with a curved handle.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode31.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..f2401339a1948c6a7a99569a647af3d116b76eca --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the arm, grasp the hand-sized black mug by edge contact point 0, lift and transport the hand-sized black mug to the angular rack with slanted support rod, hang the hand-sized black mug on the angular rack with slanted support rod, then let go.", + "Use the arm to grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug, move toward the angled rack with long and short rods, hang the cylindrical black mug on the angled rack with long and short rods, then release the cylindrical black mug.", + "Approach the mug with thick sturdy handle, take hold of the mug with thick sturdy handle by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the mug with thick sturdy handle onto the metallic angular rack with rod pair, and let go.", + "Grasp the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle from its spot, carry the mug with thick sturdy handle to the dark gray rack, hang the mug with thick sturdy handle on the dark gray rack, and release.", + "Bring the arm to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift it, move to the smooth dark gray rack, hang the black mug with smooth surface on the smooth dark gray rack, then let go.", + "Move the arm toward the black mug with handle, grasp the black mug with handle at edge contact point 0, lift the black mug with handle, carry the black mug with handle to the metallic angular rack with rod pair, hang the black mug with handle on the metallic angular rack with rod pair, release the black mug with handle.", + "Have the arm grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring it to the metallic angular rack with rod pair, hang the black mug for liquids from the metallic angular rack with rod pair, then release.", + "Guide the arm to the black mug with smooth surface, grip the black mug with smooth surface by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the black mug with smooth surface on the rack with two rods sticking out, and release.", + "Send the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift it, carry the cylindrical black mug to the rack with angular body, hang the cylindrical black mug on the rack with angular body, and release the cylindrical black mug.", + "Grab the black mug with smooth surface at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the black mug with smooth surface onto the metallic angular rack with rod pair, and release the black mug with smooth surface.", + "Direct the arm to the black mug, grasp the black mug by edge contact point 0, lift the black mug clear, move to the angled rack with long and short rods, hang the black mug on the angled rack with long and short rods, release the grip.", + "Hold the black mug using edge contact point 0, lift the black mug up, bring the black mug to the angular rack with slanted support rod, hang the black mug on the angular rack with slanted support rod, then release.", + "Direct the arm to grip the mug with rounded handle at edge contact point 0, pick the mug with rounded handle up, carry it to the dark gray rack, hang the mug with rounded handle on the dark gray rack, and release.", + "Hold the mug with thick sturdy handle at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the mug with thick sturdy handle onto the rack with two rods sticking out to hang, then let go.", + "Using the arm, secure the mug with thick sturdy handle by edge contact point 0, lift, align the mug with thick sturdy handle with the angular rack with slanted support rod, hang the mug with thick sturdy handle on the angular rack with slanted support rod, and let go.", + "Guide the arm to the black coffee mug, grip the black coffee mug at edge contact point 0, lift the black coffee mug, align the black coffee mug with the dark gray rack, hang the black coffee mug on the dark gray rack, release the black coffee mug.", + "Get to the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring it to the metallic rack with smooth finish, hang the black mug for liquids on the metallic rack with smooth finish, and release.", + "With the arm, reach the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the mug with thick sturdy handle on the metallic rack with smooth finish, then release the mug with thick sturdy handle.", + "Pick up the hand-sized black mug by edge contact point 0, move the hand-sized black mug to the dark gray rack, hang the hand-sized black mug on the dark gray rack, and release the hand-sized black mug once it holds.", + "Reach for the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, place the cylindrical black mug onto the dark gray rack to hang, then release the cylindrical black mug.", + "Take the smooth black ceramic mug by edge contact point 0, lift it, bring it over to the metal rack, place the smooth black ceramic mug onto the metal rack so it hangs, then let go.", + "Grab the black mug for liquids at edge contact point 0, lift the black mug for liquids, move it to the rack with angular body, hook the black mug for liquids onto the rack with angular body, and release the black mug for liquids.", + "Using the arm, take the cylindrical black mug at edge contact point 0, raise the cylindrical black mug, move to the angular rack with slanted support rod, hook the cylindrical black mug onto the angular rack with slanted support rod, and release the cylindrical black mug.", + "Use the arm to grab the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move over to the rack with two rods sticking out, hang the hand-sized black mug on the rack with two rods sticking out, and release the hand-sized black mug.", + "With the arm, take hold of the black mug for liquids by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the black mug for liquids on the medium rack with protruding rods, then release.", + "Move the arm toward the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift it, travel to the dark gray angled rack, place the cylindrical black mug onto the dark gray angled rack to hang, then release.", + "With the arm, take the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, move to the rack with angular body, hook the mug with rounded handle onto the rack with angular body, then open the grip.", + "With the arm, approach the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring it to the rack with two rods sticking out, hang the black mug for liquids on the rack with two rods sticking out, then let go.", + "Have the arm reach the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move to the metal rack, hang the hand-sized black mug on the metal rack, then open the grip.", + "Grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, move it over to the smooth dark gray rack, hook the black mug with smooth surface onto the smooth dark gray rack, and release the black mug with smooth surface.", + "Take the black mug with handle by edge contact point 0, lift the black mug with handle up, move the black mug with handle in front of the metallic angular rack with rod pair, hang the black mug with handle onto the metallic angular rack with rod pair, then release the black mug with handle.", + "Grab the solid black ceramic mug at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the solid black ceramic mug on the angular rack with slanted support rod, then release the grip.", + "Reach the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, carry the hand-sized black mug to the metallic angular rack with rod pair, hang the hand-sized black mug on the metallic angular rack with rod pair, then release the hand-sized black mug.", + "Move the arm to the solid black ceramic mug, grasp the solid black ceramic mug by edge contact point 0, lift, carry to the smooth dark gray rack, hang the solid black ceramic mug on the smooth dark gray rack, release the solid black ceramic mug.", + "Grasp the black mug with handle by edge contact point 0, lift the black mug with handle up, move the black mug with handle to the smooth rack, hang the black mug with handle on the smooth rack, and let go of the black mug with handle.", + "Take the black mug with handle by edge contact point 0, lift it from its spot, carry the black mug with handle to the angular rack with slanted support rod, hang the black mug with handle on the angular rack with slanted support rod, then release the black mug with handle.", + "Take the black mug by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the black mug on the medium rack with protruding rods, and release your grip.", + "Go to the black coffee mug, grasp the black coffee mug by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the black coffee mug on the dark gray angled rack, and let go.", + "Grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring the hand-sized black mug to the smooth rack, set the hand-sized black mug onto the smooth rack to hang, and release the hand-sized black mug.", + "Grab the cylindrical black mug at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the cylindrical black mug onto the metallic angular rack with rod pair so it hangs, then release the cylindrical black mug.", + "With the arm, grasp the black mug with handle by edge contact point 0, lift and transport the black mug with handle to the angular rack with slanted support rod, hang the black mug with handle on the angular rack with slanted support rod, then let go.", + "Use the arm to grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move toward the angled rack with long and short rods, hang the hand-sized black mug on the angled rack with long and short rods, then release the hand-sized black mug.", + "Approach the cylindrical black mug, take hold of the cylindrical black mug by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the cylindrical black mug onto the medium rack with protruding rods, and let go.", + "Grasp the hand-sized black mug at edge contact point 0, lift the hand-sized black mug from its spot, carry the hand-sized black mug to the medium rack with protruding rods, hang the hand-sized black mug on the medium rack with protruding rods, and release.", + "Bring the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift it, move to the metal rack, hang the cylindrical black mug on the metal rack, then let go.", + "Move the arm toward the black mug, grasp the black mug at edge contact point 0, lift the black mug, carry the black mug to the metallic angular rack with rod pair, hang the black mug on the metallic angular rack with rod pair, release the black mug.", + "Have the arm grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, bring it to the dark gray angled rack, hang the smooth black ceramic mug from the dark gray angled rack, then release.", + "Guide the arm to the hand-sized black mug, grip the hand-sized black mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the hand-sized black mug on the rack with two rods sticking out, and release.", + "Send the arm to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift it, carry the black mug with handle to the metallic rack with smooth finish, hang the black mug with handle on the metallic rack with smooth finish, and release the black mug with handle.", + "Grab the black coffee mug at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the black coffee mug onto the medium rack with protruding rods, and release the black coffee mug.", + "Direct the arm to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, move to the rack with two rods sticking out, hang the mug with rounded handle on the rack with two rods sticking out, release the grip.", + "Hold the black mug using edge contact point 0, lift the black mug up, bring the black mug to the smooth dark gray rack, hang the black mug on the smooth dark gray rack, then release.", + "Direct the arm to grip the mug with rounded handle at edge contact point 0, pick the mug with rounded handle up, carry it to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, and release.", + "Hold the black mug with smooth surface at edge contact point 0, lift it up, move toward the angular rack with slanted support rod, place the black mug with smooth surface onto the angular rack with slanted support rod to hang, then let go.", + "Using the arm, secure the solid black ceramic mug by edge contact point 0, lift, align the solid black ceramic mug with the angular rack with slanted support rod, hang the solid black ceramic mug on the angular rack with slanted support rod, and let go.", + "Guide the arm to the mug with rounded handle, grip the mug with rounded handle at edge contact point 0, lift the mug with rounded handle, align the mug with rounded handle with the rack with angular body, hang the mug with rounded handle on the rack with angular body, release the mug with rounded handle.", + "Get to the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, bring it to the angular rack with slanted support rod, hang the mug with thick sturdy handle on the angular rack with slanted support rod, and release.", + "With the arm, reach the black mug with handle, grasp the black mug with handle by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the black mug with handle on the metallic rack with smooth finish, then release the black mug with handle.", + "Pick up the cylindrical black mug by edge contact point 0, move the cylindrical black mug to the metallic rack with smooth finish, hang the cylindrical black mug on the metallic rack with smooth finish, and release the cylindrical black mug once it holds.", + "Reach for the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, place the cylindrical black mug onto the smooth rack to hang, then release the cylindrical black mug.", + "Take the smooth black ceramic mug by edge contact point 0, lift it, bring it over to the metal rack, place the smooth black ceramic mug onto the metal rack so it hangs, then let go.", + "Grab the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, move it to the metallic rack with smooth finish, hook the mug with thick sturdy handle onto the metallic rack with smooth finish, and release the mug with thick sturdy handle.", + "Using the arm, take the smooth black ceramic mug at edge contact point 0, raise the smooth black ceramic mug, move to the metallic angular rack with rod pair, hook the smooth black ceramic mug onto the metallic angular rack with rod pair, and release the smooth black ceramic mug.", + "Use the arm to grab the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move over to the metallic angular rack with rod pair, hang the smooth black ceramic mug on the metallic angular rack with rod pair, and release the smooth black ceramic mug.", + "With the arm, take hold of the smooth black ceramic mug by edge contact point 0, pick it up, bring it to the angular rack with slanted support rod, hang the smooth black ceramic mug on the angular rack with slanted support rod, then release.", + "Move the arm toward the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it, travel to the metal rack, place the mug with rounded handle onto the metal rack to hang, then release.", + "With the arm, take the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, move to the rack with two rods sticking out, hook the mug with rounded handle onto the rack with two rods sticking out, then open the grip.", + "With the arm, approach the solid black ceramic mug, grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug, bring it to the metal rack, hang the solid black ceramic mug on the metal rack, then let go.", + "Have the arm reach the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, move to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, then open the grip.", + "Grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move it over to the metal rack, hook the smooth black ceramic mug onto the metal rack, and release the smooth black ceramic mug.", + "Take the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface up, move the black mug with smooth surface in front of the smooth rack, hang the black mug with smooth surface onto the smooth rack, then release the black mug with smooth surface.", + "Grab the solid black ceramic mug at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the solid black ceramic mug on the dark gray angled rack, then release the grip.", + "Reach the solid black ceramic mug, grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug, carry the solid black ceramic mug to the angled rack with long and short rods, hang the solid black ceramic mug on the angled rack with long and short rods, then release the solid black ceramic mug.", + "Move the arm to the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the black mug for liquids on the rack with two rods sticking out, release the black mug for liquids.", + "Grasp the black mug by edge contact point 0, lift the black mug up, move the black mug to the smooth rack, hang the black mug on the smooth rack, and let go of the black mug.", + "Take the black mug by edge contact point 0, lift it from its spot, carry the black mug to the smooth rack, hang the black mug on the smooth rack, then release the black mug.", + "Take the black mug for liquids by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the black mug for liquids on the metallic angular rack with rod pair, and release your grip.", + "Go to the black coffee mug, grasp the black coffee mug by edge contact point 0, lift it clear, align it with the dark gray rack, hang the black coffee mug on the dark gray rack, and let go.", + "Grasp the black mug with handle by edge contact point 0, lift the black mug with handle, bring the black mug with handle to the rack with angular body, set the black mug with handle onto the rack with angular body to hang, and release the black mug with handle.", + "Grab the smooth black ceramic mug at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the smooth black ceramic mug onto the angular rack with slanted support rod so it hangs, then release the smooth black ceramic mug.", + "With the arm, grasp the hand-sized black mug by edge contact point 0, lift and transport the hand-sized black mug to the metallic rack with smooth finish, hang the hand-sized black mug on the metallic rack with smooth finish, then let go.", + "Use the arm to grasp the black mug by edge contact point 0, lift the black mug, move toward the smooth dark gray rack, hang the black mug on the smooth dark gray rack, then release the black mug.", + "Approach the black mug with handle, take hold of the black mug with handle by edge contact point 0, raise it, bring it to the dark gray rack, hook the black mug with handle onto the dark gray rack, and let go.", + "Grasp the black mug with smooth surface at edge contact point 0, lift the black mug with smooth surface from its spot, carry the black mug with smooth surface to the metal rack, hang the black mug with smooth surface on the metal rack, and release.", + "Bring the arm to the black mug, grasp the black mug by edge contact point 0, lift it, move to the dark gray angled rack, hang the black mug on the dark gray angled rack, then let go.", + "Move the arm toward the hand-sized black mug, grasp the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, carry the hand-sized black mug to the rack with two rods sticking out, hang the hand-sized black mug on the rack with two rods sticking out, release the hand-sized black mug.", + "Have the arm grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring it to the smooth rack, hang the hand-sized black mug from the smooth rack, then release.", + "Guide the arm to the mug with thick sturdy handle, grip the mug with thick sturdy handle by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the mug with thick sturdy handle on the smooth dark gray rack, and release.", + "Send the arm to the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift it, carry the hand-sized black mug to the metallic angular rack with rod pair, hang the hand-sized black mug on the metallic angular rack with rod pair, and release the hand-sized black mug.", + "Grab the smooth black ceramic mug at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the smooth black ceramic mug onto the medium rack with protruding rods, and release the smooth black ceramic mug.", + "Direct the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift the cylindrical black mug clear, move to the rack with angular body, hang the cylindrical black mug on the rack with angular body, release the grip.", + "Hold the black coffee mug using edge contact point 0, lift the black coffee mug up, bring the black coffee mug to the metallic angular rack with rod pair, hang the black coffee mug on the metallic angular rack with rod pair, then release.", + "Direct the arm to grip the black mug at edge contact point 0, pick the black mug up, carry it to the angled rack with long and short rods, hang the black mug on the angled rack with long and short rods, and release.", + "Hold the black mug at edge contact point 0, lift it up, move toward the metallic angular rack with rod pair, place the black mug onto the metallic angular rack with rod pair to hang, then let go.", + "Using the arm, secure the black coffee mug by edge contact point 0, lift, align the black coffee mug with the smooth rack, hang the black coffee mug on the smooth rack, and let go.", + "Guide the arm to the black mug with handle, grip the black mug with handle at edge contact point 0, lift the black mug with handle, align the black mug with handle with the dark gray rack, hang the black mug with handle on the dark gray rack, release the black mug with handle.", + "Get to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, bring it to the rack with angular body, hang the black mug with smooth surface on the rack with angular body, and release.", + "With the arm, reach the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift, align it to the smooth rack, hang the mug with rounded handle on the smooth rack, then release the mug with rounded handle.", + "Pick up the black mug with smooth surface by edge contact point 0, move the black mug with smooth surface to the rack with angular body, hang the black mug with smooth surface on the rack with angular body, and release the black mug with smooth surface once it holds.", + "Reach for the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids clear, place the black mug for liquids onto the dark gray rack to hang, then release the black mug for liquids." + ], + "unseen": [ + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium black mug on the dark gray rack with flat back, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release the matte black mug.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium black mug on the dark gray rack with flat back, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release the medium black mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode32.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..b524a972c2c6e35f5bacb90d62fd288f85d50451 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the logo mug by edge contact point 0, lift it from its spot, carry the logo mug to the metallic rack with smooth finish, hang the logo mug on the metallic rack with smooth finish, then release the logo mug.", + "Move the arm to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift, carry to the smooth dark gray rack, hang the round mug with one handle on the smooth dark gray rack, release the round mug with one handle.", + "Reach for the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup clear, place the dark green ceramic cup onto the smooth dark gray rack to hang, then release the dark green ceramic cup.", + "Grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, move it over to the dark gray angled rack, hook the medium mug with handle onto the dark gray angled rack, and release the medium mug with handle.", + "Direct the arm to grip the medium mug with handle at edge contact point 0, pick the medium mug with handle up, carry it to the angular rack with slanted support rod, hang the medium mug with handle on the angular rack with slanted support rod, and release.", + "Using the arm, take the round mug with one handle at edge contact point 0, raise the round mug with one handle, move to the medium rack with protruding rods, hook the round mug with one handle onto the medium rack with protruding rods, and release the round mug with one handle.", + "Grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring the starbucks green mug to the metal rack, set the starbucks green mug onto the metal rack to hang, and release the starbucks green mug.", + "Grab the starbucks green mug at edge contact point 0, lift it, bring it to the dark gray rack, hang the starbucks green mug on the dark gray rack, then release the grip.", + "Move the arm toward the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the starbucks green mug onto the angular rack with slanted support rod to hang, then release.", + "Grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks up, move the ceramic mug for hot drinks to the angled rack with long and short rods, hang the ceramic mug for hot drinks on the angled rack with long and short rods, and let go of the ceramic mug for hot drinks.", + "Bring the arm to the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, then let go.", + "With the arm, approach the green mug, grasp the green mug by edge contact point 0, lift the green mug, bring it to the angular rack with slanted support rod, hang the green mug on the angular rack with slanted support rod, then let go.", + "Grab the medium mug with handle at edge contact point 0, lift the medium mug with handle, move it to the angled rack with long and short rods, hook the medium mug with handle onto the angled rack with long and short rods, and release the medium mug with handle.", + "Take the ceramic mug for hot drinks by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the ceramic mug for hot drinks on the smooth dark gray rack, and release your grip.", + "Have the arm grasp the logo mug by edge contact point 0, lift the logo mug, bring it to the dark gray rack, hang the logo mug from the dark gray rack, then release.", + "Go to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift it clear, align it with the rack with angular body, hang the medium-sized smooth green Starbucks mug on the rack with angular body, and let go.", + "Reach the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, carry the Starbucks branded coffee mug to the angular rack with slanted support rod, hang the Starbucks branded coffee mug on the angular rack with slanted support rod, then release the Starbucks branded coffee mug.", + "Take the green drinking mug by edge contact point 0, lift the green drinking mug up, move the green drinking mug in front of the metal rack, hang the green drinking mug onto the metal rack, then release the green drinking mug.", + "Grasp the green drinking mug at edge contact point 0, lift the green drinking mug from its spot, carry the green drinking mug to the angled rack with long and short rods, hang the green drinking mug on the angled rack with long and short rods, and release.", + "Have the arm reach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, move to the metal rack, hang the logo mug on the metal rack, then open the grip.", + "Grab the green drinking mug at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the green drinking mug onto the rack with two rods sticking out so it hangs, then release the green drinking mug.", + "Hold the logo mug at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the logo mug onto the medium rack with protruding rods to hang, then let go.", + "Take the dark green ceramic cup by edge contact point 0, lift it, bring it over to the dark gray rack, place the dark green ceramic cup onto the dark gray rack so it hangs, then let go.", + "Hold the green drinking mug using edge contact point 0, lift the green drinking mug up, bring the green drinking mug to the rack with two rods sticking out, hang the green drinking mug on the rack with two rods sticking out, then release.", + "Using the arm, secure the round mug with one handle by edge contact point 0, lift, align the round mug with one handle with the rack with two rods sticking out, hang the round mug with one handle on the rack with two rods sticking out, and let go.", + "Guide the arm to the ceramic mug for hot drinks, grip the ceramic mug for hot drinks by edge contact point 0, pick it up, move to the metal rack, hang the ceramic mug for hot drinks on the metal rack, and release.", + "Use the arm to grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, move toward the rack with angular body, hang the medium mug with handle on the rack with angular body, then release the medium mug with handle.", + "Get to the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring it to the dark gray rack, hang the starbucks green mug on the dark gray rack, and release.", + "Use the arm to grab the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move over to the angular rack with slanted support rod, hang the dark green ceramic cup on the angular rack with slanted support rod, and release the dark green ceramic cup.", + "With the arm, take the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks clear, move to the angled rack with long and short rods, hook the ceramic mug for hot drinks onto the angled rack with long and short rods, then open the grip.", + "With the arm, grasp the logo mug by edge contact point 0, lift and transport the logo mug to the smooth rack, hang the logo mug on the smooth rack, then let go.", + "Approach the green drinking mug, take hold of the green drinking mug by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the green drinking mug onto the medium rack with protruding rods, and let go.", + "With the arm, take hold of the ceramic mug for hot drinks by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the ceramic mug for hot drinks on the angled rack with long and short rods, then release.", + "Send the arm to the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift it, carry the medium mug with handle to the angular rack with slanted support rod, hang the medium mug with handle on the angular rack with slanted support rod, and release the medium mug with handle.", + "Direct the arm to the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug clear, move to the metallic angular rack with rod pair, hang the Starbucks branded coffee mug on the metallic angular rack with rod pair, release the grip.", + "Grab the smooth dark green mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the smooth dark green mug onto the rack with two rods sticking out, and release the smooth dark green mug.", + "Pick up the green drinking mug by edge contact point 0, move the green drinking mug to the dark gray rack, hang the green drinking mug on the dark gray rack, and release the green drinking mug once it holds.", + "Guide the arm to the logo mug, grip the logo mug at edge contact point 0, lift the logo mug, align the logo mug with the angular rack with slanted support rod, hang the logo mug on the angular rack with slanted support rod, release the logo mug.", + "With the arm, reach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the round mug with one handle on the angular rack with slanted support rod, then release the round mug with one handle.", + "Move the arm toward the starbucks green mug, grasp the starbucks green mug at edge contact point 0, lift the starbucks green mug, carry the starbucks green mug to the dark gray angled rack, hang the starbucks green mug on the dark gray angled rack, release the starbucks green mug.", + "Take the ceramic mug by edge contact point 0, lift it from its spot, carry the ceramic mug to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, then release the ceramic mug.", + "Move the arm to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the round mug with one handle on the angled rack with long and short rods, release the round mug with one handle.", + "Reach for the green drinking mug, grasp the green drinking mug by edge contact point 0, lift the green drinking mug clear, place the green drinking mug onto the rack with two rods sticking out to hang, then release the green drinking mug.", + "Grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, move it over to the medium rack with protruding rods, hook the starbucks green mug onto the medium rack with protruding rods, and release the starbucks green mug.", + "Direct the arm to grip the green drinking mug at edge contact point 0, pick the green drinking mug up, carry it to the metallic angular rack with rod pair, hang the green drinking mug on the metallic angular rack with rod pair, and release.", + "Using the arm, take the dark green ceramic cup at edge contact point 0, raise the dark green ceramic cup, move to the metallic rack with smooth finish, hook the dark green ceramic cup onto the metallic rack with smooth finish, and release the dark green ceramic cup.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring the ceramic mug to the angled rack with long and short rods, set the ceramic mug onto the angled rack with long and short rods to hang, and release the ceramic mug.", + "Grab the green mug at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the green mug on the smooth dark gray rack, then release the grip.", + "Move the arm toward the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the green drinking mug onto the angled rack with long and short rods to hang, then release.", + "Grasp the green mug by edge contact point 0, lift the green mug up, move the green mug to the medium rack with protruding rods, hang the green mug on the medium rack with protruding rods, and let go of the green mug.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, then let go.", + "With the arm, approach the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, bring it to the smooth rack, hang the smooth dark green mug on the smooth rack, then let go.", + "Grab the smooth dark green mug at edge contact point 0, lift the smooth dark green mug, move it to the rack with angular body, hook the smooth dark green mug onto the rack with angular body, and release the smooth dark green mug.", + "Take the medium-sized smooth green Starbucks mug by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the medium-sized smooth green Starbucks mug on the angular rack with slanted support rod, and release your grip.", + "Have the arm grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, bring it to the smooth dark gray rack, hang the medium-sized smooth green Starbucks mug from the smooth dark gray rack, then release.", + "Go to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the round mug with one handle on the metallic rack with smooth finish, and let go.", + "Reach the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, carry the smooth dark green mug to the rack with two rods sticking out, hang the smooth dark green mug on the rack with two rods sticking out, then release the smooth dark green mug.", + "Take the green mug by edge contact point 0, lift the green mug up, move the green mug in front of the rack with two rods sticking out, hang the green mug onto the rack with two rods sticking out, then release the green mug.", + "Grasp the ceramic mug at edge contact point 0, lift the ceramic mug from its spot, carry the ceramic mug to the rack with angular body, hang the ceramic mug on the rack with angular body, and release.", + "Have the arm reach the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, move to the metal rack, hang the ceramic mug for hot drinks on the metal rack, then open the grip.", + "Grab the ceramic mug for hot drinks at edge contact point 0, raise it, guide it to the rack with angular body, set the ceramic mug for hot drinks onto the rack with angular body so it hangs, then release the ceramic mug for hot drinks.", + "Hold the Starbucks branded coffee mug at edge contact point 0, lift it up, move toward the smooth rack, place the Starbucks branded coffee mug onto the smooth rack to hang, then let go.", + "Take the medium mug with handle by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the medium mug with handle onto the angular rack with slanted support rod so it hangs, then let go.", + "Hold the smooth dark green mug using edge contact point 0, lift the smooth dark green mug up, bring the smooth dark green mug to the metallic rack with smooth finish, hang the smooth dark green mug on the metallic rack with smooth finish, then release.", + "Using the arm, secure the starbucks green mug by edge contact point 0, lift, align the starbucks green mug with the rack with angular body, hang the starbucks green mug on the rack with angular body, and let go.", + "Guide the arm to the dark green ceramic cup, grip the dark green ceramic cup by edge contact point 0, pick it up, move to the dark gray rack, hang the dark green ceramic cup on the dark gray rack, and release.", + "Use the arm to grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, move toward the rack with two rods sticking out, hang the medium mug with handle on the rack with two rods sticking out, then release the medium mug with handle.", + "Get to the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, bring it to the rack with angular body, hang the logo mug on the rack with angular body, and release.", + "Use the arm to grab the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, move over to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, and release the smooth dark green mug.", + "With the arm, take the green mug by edge contact point 0, lift the green mug clear, move to the rack with two rods sticking out, hook the green mug onto the rack with two rods sticking out, then open the grip.", + "With the arm, grasp the round mug with one handle by edge contact point 0, lift and transport the round mug with one handle to the smooth dark gray rack, hang the round mug with one handle on the smooth dark gray rack, then let go.", + "Approach the green mug, take hold of the green mug by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the green mug onto the medium rack with protruding rods, and let go.", + "With the arm, take hold of the ceramic mug for hot drinks by edge contact point 0, pick it up, bring it to the dark gray rack, hang the ceramic mug for hot drinks on the dark gray rack, then release.", + "Send the arm to the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift it, carry the starbucks green mug to the smooth dark gray rack, hang the starbucks green mug on the smooth dark gray rack, and release the starbucks green mug.", + "Direct the arm to the green mug, grasp the green mug by edge contact point 0, lift the green mug clear, move to the rack with two rods sticking out, hang the green mug on the rack with two rods sticking out, release the grip.", + "Grab the dark green ceramic cup at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the dark green ceramic cup onto the angular rack with slanted support rod, and release the dark green ceramic cup.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the metal rack, hang the ceramic mug on the metal rack, and release the ceramic mug once it holds.", + "Guide the arm to the ceramic mug for hot drinks, grip the ceramic mug for hot drinks at edge contact point 0, lift the ceramic mug for hot drinks, align the ceramic mug for hot drinks with the smooth dark gray rack, hang the ceramic mug for hot drinks on the smooth dark gray rack, release the ceramic mug for hot drinks.", + "With the arm, reach the green mug, grasp the green mug by edge contact point 0, lift, align it to the dark gray angled rack, hang the green mug on the dark gray angled rack, then release the green mug.", + "Move the arm toward the smooth dark green mug, grasp the smooth dark green mug at edge contact point 0, lift the smooth dark green mug, carry the smooth dark green mug to the rack with two rods sticking out, hang the smooth dark green mug on the rack with two rods sticking out, release the smooth dark green mug.", + "Take the ceramic mug for hot drinks by edge contact point 0, lift it from its spot, carry the ceramic mug for hot drinks to the metal rack, hang the ceramic mug for hot drinks on the metal rack, then release the ceramic mug for hot drinks.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the rack with angular body, hang the ceramic mug on the rack with angular body, release the ceramic mug.", + "Reach for the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle clear, place the medium mug with handle onto the smooth dark gray rack to hang, then release the medium mug with handle.", + "Grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, move it over to the medium rack with protruding rods, hook the medium-sized smooth green Starbucks mug onto the medium rack with protruding rods, and release the medium-sized smooth green Starbucks mug.", + "Direct the arm to grip the green drinking mug at edge contact point 0, pick the green drinking mug up, carry it to the dark gray angled rack, hang the green drinking mug on the dark gray angled rack, and release.", + "Using the arm, take the medium-sized smooth green Starbucks mug at edge contact point 0, raise the medium-sized smooth green Starbucks mug, move to the metal rack, hook the medium-sized smooth green Starbucks mug onto the metal rack, and release the medium-sized smooth green Starbucks mug.", + "Grasp the green drinking mug by edge contact point 0, lift the green drinking mug, bring the green drinking mug to the rack with two rods sticking out, set the green drinking mug onto the rack with two rods sticking out to hang, and release the green drinking mug.", + "Grab the medium mug with handle at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the medium mug with handle on the smooth dark gray rack, then release the grip.", + "Move the arm toward the logo mug, grasp the logo mug by edge contact point 0, lift it, travel to the smooth dark gray rack, place the logo mug onto the smooth dark gray rack to hang, then release.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug to the smooth rack, hang the ceramic mug on the smooth rack, and let go of the ceramic mug.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, then let go.", + "With the arm, approach the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, bring it to the dark gray angled rack, hang the medium-sized smooth green Starbucks mug on the dark gray angled rack, then let go.", + "Grab the logo mug at edge contact point 0, lift the logo mug, move it to the dark gray rack, hook the logo mug onto the dark gray rack, and release the logo mug.", + "Take the starbucks green mug by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the starbucks green mug on the rack with two rods sticking out, and release your grip.", + "Have the arm grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, bring it to the smooth dark gray rack, hang the Starbucks branded coffee mug from the smooth dark gray rack, then release.", + "Go to the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift it clear, align it with the dark gray rack, hang the starbucks green mug on the dark gray rack, and let go.", + "Reach the green mug, grasp the green mug by edge contact point 0, lift the green mug, carry the green mug to the rack with angular body, hang the green mug on the rack with angular body, then release the green mug.", + "Take the green drinking mug by edge contact point 0, lift the green drinking mug up, move the green drinking mug in front of the metallic rack with smooth finish, hang the green drinking mug onto the metallic rack with smooth finish, then release the green drinking mug.", + "Grasp the dark green ceramic cup at edge contact point 0, lift the dark green ceramic cup from its spot, carry the dark green ceramic cup to the medium rack with protruding rods, hang the dark green ceramic cup on the medium rack with protruding rods, and release.", + "Have the arm reach the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, move to the dark gray rack, hang the smooth dark green mug on the dark gray rack, then open the grip." + ], + "unseen": [ + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release the cylindrical mug with Starbucks logo.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release the cylindrical mug with Starbucks logo.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release the cylindrical mug with Starbucks logo.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode33.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..a5fba13c2f27d11b91439d575851fd58301566eb --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages up, move the glossy mug for beverages to the dark gray rack, hang the glossy mug for beverages on the dark gray rack, and let go of the glossy mug for beverages.", + "Grab the glossy mug for beverages at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the glossy mug for beverages onto the smooth dark gray rack, and release the glossy mug for beverages.", + "With the arm, reach the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift, align it to the rack with angular body, hang the plain glossy mug on the rack with angular body, then release the plain glossy mug.", + "Pick up the plain glossy mug by edge contact point 0, move the plain glossy mug to the medium rack with protruding rods, hang the plain glossy mug on the medium rack with protruding rods, and release the plain glossy mug once it holds.", + "Hold the medium-sized white mug using edge contact point 0, lift the medium-sized white mug up, bring the medium-sized white mug to the rack with angular body, hang the medium-sized white mug on the rack with angular body, then release.", + "Move the arm toward the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the smooth white mug with curved handle onto the angular rack with slanted support rod to hang, then release.", + "Grab the smooth and plain drinking mug at edge contact point 0, lift the smooth and plain drinking mug, move it to the metallic angular rack with rod pair, hook the smooth and plain drinking mug onto the metallic angular rack with rod pair, and release the smooth and plain drinking mug.", + "With the arm, grasp the medium-sized white mug by edge contact point 0, lift and transport the medium-sized white mug to the angled rack with long and short rods, hang the medium-sized white mug on the angled rack with long and short rods, then let go.", + "With the arm, approach the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, bring it to the metal rack, hang the hand-sized ceramic mug on the metal rack, then let go.", + "Grab the basic mug in solid white at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the basic mug in solid white onto the angled rack with long and short rods so it hangs, then release the basic mug in solid white.", + "Using the arm, secure the plain glossy mug by edge contact point 0, lift, align the plain glossy mug with the rack with angular body, hang the plain glossy mug on the rack with angular body, and let go.", + "Guide the arm to the glossy mug for beverages, grip the glossy mug for beverages by edge contact point 0, pick it up, move to the rack with angular body, hang the glossy mug for beverages on the rack with angular body, and release.", + "Take the plain glossy mug by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the plain glossy mug onto the metallic rack with smooth finish so it hangs, then let go.", + "Reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, carry the white mug to the smooth dark gray rack, hang the white mug on the smooth dark gray rack, then release the white mug.", + "Grasp the white mug by edge contact point 0, lift the white mug, move it over to the rack with two rods sticking out, hook the white mug onto the rack with two rods sticking out, and release the white mug.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move toward the rack with angular body, hang the ceramic mug on the rack with angular body, then release the ceramic mug.", + "Have the arm grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, bring it to the rack with angular body, hang the cylindrical mug made of ceramic from the rack with angular body, then release.", + "Send the arm to the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift it, carry the glossy mug for beverages to the angled rack with long and short rods, hang the glossy mug for beverages on the angled rack with long and short rods, and release the glossy mug for beverages.", + "Hold the glossy mug for beverages at edge contact point 0, lift it up, move toward the angular rack with slanted support rod, place the glossy mug for beverages onto the angular rack with slanted support rod to hang, then let go.", + "Get to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium rack with protruding rods, hang the medium-sized white mug on the medium rack with protruding rods, and release.", + "Use the arm to grab the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, move over to the smooth rack, hang the cylindrical mug made of ceramic on the smooth rack, and release the cylindrical mug made of ceramic.", + "Move the arm to the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift, carry to the smooth dark gray rack, hang the glossy mug for beverages on the smooth dark gray rack, release the glossy mug for beverages.", + "Approach the plain glossy mug, take hold of the plain glossy mug by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the plain glossy mug onto the angular rack with slanted support rod, and let go.", + "Using the arm, take the medium-sized white mug at edge contact point 0, raise the medium-sized white mug, move to the dark gray rack, hook the medium-sized white mug onto the dark gray rack, and release the medium-sized white mug.", + "Grab the white mug at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the white mug on the metallic rack with smooth finish, then release the grip.", + "Go to the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the white mug with rounded handle on the metallic angular rack with rod pair, and let go.", + "Grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug, bring the smooth and plain drinking mug to the rack with angular body, set the smooth and plain drinking mug onto the rack with angular body to hang, and release the smooth and plain drinking mug.", + "Grasp the basic mug in solid white at edge contact point 0, lift the basic mug in solid white from its spot, carry the basic mug in solid white to the rack with angular body, hang the basic mug in solid white on the rack with angular body, and release.", + "Take the medium white mug with handle by edge contact point 0, lift the medium white mug with handle up, move the medium white mug with handle in front of the rack with angular body, hang the medium white mug with handle onto the rack with angular body, then release the medium white mug with handle.", + "Take the smooth and plain drinking mug by edge contact point 0, lift it off the surface, move it to the angled rack with long and short rods, hang the smooth and plain drinking mug on the angled rack with long and short rods, and release your grip.", + "Direct the arm to the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug clear, move to the rack with two rods sticking out, hang the smooth and plain drinking mug on the rack with two rods sticking out, release the grip.", + "Guide the arm to the basic mug in solid white, grip the basic mug in solid white at edge contact point 0, lift the basic mug in solid white, align the basic mug in solid white with the angled rack with long and short rods, hang the basic mug in solid white on the angled rack with long and short rods, release the basic mug in solid white.", + "Take the basic mug in solid white by edge contact point 0, lift it from its spot, carry the basic mug in solid white to the angular rack with slanted support rod, hang the basic mug in solid white on the angular rack with slanted support rod, then release the basic mug in solid white.", + "Move the arm toward the medium-sized white mug, grasp the medium-sized white mug at edge contact point 0, lift the medium-sized white mug, carry the medium-sized white mug to the medium rack with protruding rods, hang the medium-sized white mug on the medium rack with protruding rods, release the medium-sized white mug.", + "Have the arm reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, then open the grip.", + "Direct the arm to grip the ceramic mug at edge contact point 0, pick the ceramic mug up, carry it to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, and release.", + "With the arm, take hold of the medium white mug with handle by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the medium white mug with handle on the medium rack with protruding rods, then release.", + "With the arm, take the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic clear, move to the rack with angular body, hook the cylindrical mug made of ceramic onto the rack with angular body, then open the grip.", + "Bring the arm to the white mug, grasp the white mug by edge contact point 0, lift it, move to the dark gray angled rack, hang the white mug on the dark gray angled rack, then let go.", + "Reach for the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle clear, place the smooth white mug with curved handle onto the smooth dark gray rack to hang, then release the smooth white mug with curved handle.", + "Grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle up, move the white mug with rounded handle to the metallic angular rack with rod pair, hang the white mug with rounded handle on the metallic angular rack with rod pair, and let go of the white mug with rounded handle.", + "Grab the white mug at edge contact point 0, pick it up, move it over to the dark gray rack, hang the white mug onto the dark gray rack, and release the white mug.", + "With the arm, reach the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift, align it to the smooth rack, hang the smooth and plain drinking mug on the smooth rack, then release the smooth and plain drinking mug.", + "Pick up the medium white mug with handle by edge contact point 0, move the medium white mug with handle to the dark gray angled rack, hang the medium white mug with handle on the dark gray angled rack, and release the medium white mug with handle once it holds.", + "Hold the medium white mug with handle using edge contact point 0, lift the medium white mug with handle up, bring the medium white mug with handle to the rack with two rods sticking out, hang the medium white mug with handle on the rack with two rods sticking out, then release.", + "Move the arm toward the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift it, travel to the smooth dark gray rack, place the glossy mug for beverages onto the smooth dark gray rack to hang, then release.", + "Grab the basic mug in solid white at edge contact point 0, lift the basic mug in solid white, move it to the angled rack with long and short rods, hook the basic mug in solid white onto the angled rack with long and short rods, and release the basic mug in solid white.", + "With the arm, grasp the white mug with rounded handle by edge contact point 0, lift and transport the white mug with rounded handle to the rack with two rods sticking out, hang the white mug with rounded handle on the rack with two rods sticking out, then let go.", + "With the arm, approach the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, bring it to the dark gray rack, hang the cylindrical mug made of ceramic on the dark gray rack, then let go.", + "Grab the glossy mug for beverages at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the glossy mug for beverages onto the metallic angular rack with rod pair so it hangs, then release the glossy mug for beverages.", + "Using the arm, secure the white mug by edge contact point 0, lift, align the white mug with the metallic angular rack with rod pair, hang the white mug on the metallic angular rack with rod pair, and let go.", + "Guide the arm to the hand-sized ceramic mug, grip the hand-sized ceramic mug by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the hand-sized ceramic mug on the smooth dark gray rack, and release.", + "Take the medium white mug with handle by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the medium white mug with handle onto the metallic angular rack with rod pair so it hangs, then let go.", + "Reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, carry the white mug to the angled rack with long and short rods, hang the white mug on the angled rack with long and short rods, then release the white mug.", + "Grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, move it over to the rack with angular body, hook the medium-sized white mug onto the rack with angular body, and release the medium-sized white mug.", + "Use the arm to grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, move toward the rack with angular body, hang the hand-sized ceramic mug on the rack with angular body, then release the hand-sized ceramic mug.", + "Have the arm grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium rack with protruding rods, hang the ceramic mug from the medium rack with protruding rods, then release.", + "Send the arm to the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift it, carry the hand-sized ceramic mug to the rack with two rods sticking out, hang the hand-sized ceramic mug on the rack with two rods sticking out, and release the hand-sized ceramic mug.", + "Hold the white mug at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the white mug onto the medium rack with protruding rods to hang, then let go.", + "Get to the basic mug in solid white, grasp the basic mug in solid white by edge contact point 0, lift the basic mug in solid white, bring it to the metallic rack with smooth finish, hang the basic mug in solid white on the metallic rack with smooth finish, and release.", + "Use the arm to grab the medium white mug with handle by edge contact point 0, lift the medium white mug with handle, move over to the smooth rack, hang the medium white mug with handle on the smooth rack, and release the medium white mug with handle.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the dark gray rack, hang the ceramic mug on the dark gray rack, release the ceramic mug.", + "Approach the plain glossy mug, take hold of the plain glossy mug by edge contact point 0, raise it, bring it to the rack with angular body, hook the plain glossy mug onto the rack with angular body, and let go.", + "Using the arm, take the smooth white mug with curved handle at edge contact point 0, raise the smooth white mug with curved handle, move to the metallic angular rack with rod pair, hook the smooth white mug with curved handle onto the metallic angular rack with rod pair, and release the smooth white mug with curved handle.", + "Grab the smooth white mug with curved handle at edge contact point 0, lift it, bring it to the dark gray rack, hang the smooth white mug with curved handle on the dark gray rack, then release the grip.", + "Go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it clear, align it with the rack with angular body, hang the medium-sized white mug on the rack with angular body, and let go.", + "Grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, bring the smooth white mug with curved handle to the smooth dark gray rack, set the smooth white mug with curved handle onto the smooth dark gray rack to hang, and release the smooth white mug with curved handle.", + "Grasp the basic mug in solid white at edge contact point 0, lift the basic mug in solid white from its spot, carry the basic mug in solid white to the smooth rack, hang the basic mug in solid white on the smooth rack, and release.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the rack with angular body, hang the ceramic mug onto the rack with angular body, then release the ceramic mug.", + "Take the basic mug in solid white by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the basic mug in solid white on the metallic angular rack with rod pair, and release your grip.", + "Direct the arm to the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages clear, move to the medium rack with protruding rods, hang the glossy mug for beverages on the medium rack with protruding rods, release the grip.", + "Guide the arm to the smooth white mug with curved handle, grip the smooth white mug with curved handle at edge contact point 0, lift the smooth white mug with curved handle, align the smooth white mug with curved handle with the angular rack with slanted support rod, hang the smooth white mug with curved handle on the angular rack with slanted support rod, release the smooth white mug with curved handle.", + "Take the hand-sized ceramic mug by edge contact point 0, lift it from its spot, carry the hand-sized ceramic mug to the metallic angular rack with rod pair, hang the hand-sized ceramic mug on the metallic angular rack with rod pair, then release the hand-sized ceramic mug.", + "Move the arm toward the ceramic mug, grasp the ceramic mug at edge contact point 0, lift the ceramic mug, carry the ceramic mug to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, release the ceramic mug.", + "Have the arm reach the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages, move to the dark gray rack, hang the glossy mug for beverages on the dark gray rack, then open the grip.", + "Direct the arm to grip the glossy mug for beverages at edge contact point 0, pick the glossy mug for beverages up, carry it to the smooth rack, hang the glossy mug for beverages on the smooth rack, and release.", + "With the arm, take hold of the smooth and plain drinking mug by edge contact point 0, pick it up, bring it to the metal rack, hang the smooth and plain drinking mug on the metal rack, then release.", + "With the arm, take the basic mug in solid white by edge contact point 0, lift the basic mug in solid white clear, move to the metallic rack with smooth finish, hook the basic mug in solid white onto the metallic rack with smooth finish, then open the grip.", + "Bring the arm to the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift it, move to the metal rack, hang the cylindrical mug made of ceramic on the metal rack, then let go.", + "Reach for the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, place the ceramic mug onto the dark gray rack to hang, then release the ceramic mug.", + "Grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages up, move the glossy mug for beverages to the angular rack with slanted support rod, hang the glossy mug for beverages on the angular rack with slanted support rod, and let go of the glossy mug for beverages.", + "Grab the medium white mug with handle at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the medium white mug with handle onto the rack with two rods sticking out, and release the medium white mug with handle.", + "With the arm, reach the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift, align it to the rack with angular body, hang the medium-sized white mug on the rack with angular body, then release the medium-sized white mug.", + "Pick up the white mug by edge contact point 0, move the white mug to the smooth rack, hang the white mug on the smooth rack, and release the white mug once it holds.", + "Hold the medium white mug with handle using edge contact point 0, lift the medium white mug with handle up, bring the medium white mug with handle to the metal rack, hang the medium white mug with handle on the metal rack, then release.", + "Move the arm toward the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the medium white mug with handle onto the medium rack with protruding rods to hang, then release.", + "Grab the basic mug in solid white at edge contact point 0, lift the basic mug in solid white, move it to the rack with two rods sticking out, hook the basic mug in solid white onto the rack with two rods sticking out, and release the basic mug in solid white.", + "With the arm, grasp the medium-sized white mug by edge contact point 0, lift and transport the medium-sized white mug to the rack with two rods sticking out, hang the medium-sized white mug on the rack with two rods sticking out, then let go.", + "With the arm, approach the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle, bring it to the metal rack, hang the medium white mug with handle on the metal rack, then let go.", + "Grab the medium-sized white mug at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the medium-sized white mug onto the rack with two rods sticking out so it hangs, then release the medium-sized white mug.", + "Using the arm, secure the white mug by edge contact point 0, lift, align the white mug with the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, and let go.", + "Guide the arm to the cylindrical mug made of ceramic, grip the cylindrical mug made of ceramic by edge contact point 0, pick it up, move to the rack with angular body, hang the cylindrical mug made of ceramic on the rack with angular body, and release.", + "Take the medium white mug with handle by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the medium white mug with handle onto the rack with two rods sticking out so it hangs, then let go.", + "Reach the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, carry the cylindrical mug made of ceramic to the angular rack with slanted support rod, hang the cylindrical mug made of ceramic on the angular rack with slanted support rod, then release the cylindrical mug made of ceramic.", + "Grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, move it over to the metal rack, hook the cylindrical mug made of ceramic onto the metal rack, and release the cylindrical mug made of ceramic.", + "Use the arm to grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, move toward the rack with two rods sticking out, hang the smooth white mug with curved handle on the rack with two rods sticking out, then release the smooth white mug with curved handle.", + "Have the arm grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray angled rack, hang the ceramic mug from the dark gray angled rack, then release.", + "Send the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry the medium-sized white mug to the rack with two rods sticking out, hang the medium-sized white mug on the rack with two rods sticking out, and release the medium-sized white mug.", + "Hold the cylindrical mug made of ceramic at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the cylindrical mug made of ceramic onto the angled rack with long and short rods to hang, then let go.", + "Get to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle, bring it to the dark gray angled rack, hang the medium white mug with handle on the dark gray angled rack, and release." + ], + "unseen": [ + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go of the medium mug for hot drinks.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then let go.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release the medium mug for hot drinks.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go of the white coffee mug.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go of the white coffee mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release the simple white cylindrical mug.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the white coffee mug on the medium-sized rack, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go of the medium mug for hot drinks.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the white coffee mug on the medium-sized rack, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go of the white coffee mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go of the medium mug for hot drinks.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release the medium mug for hot drinks.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go of the white coffee mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release the simple white cylindrical mug.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go of the simple white cylindrical mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release the simple white cylindrical mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go of the white coffee mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then let go.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode34.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..9a301f0576f1668763293189622822ac17487a29 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the arm to grab the white mug by edge contact point 0, lift the white mug, move over to the metal rack, hang the white mug on the metal rack, and release the white mug.", + "Grab the cylindrical mug with curved handle at edge contact point 0, raise it, guide it to the metallic rack with smooth finish, set the cylindrical mug with curved handle onto the metallic rack with smooth finish so it hangs, then release the cylindrical mug with curved handle.", + "Using the arm, take the printed white ceramic mug at edge contact point 0, raise the printed white ceramic mug, move to the smooth dark gray rack, hook the printed white ceramic mug onto the smooth dark gray rack, and release the printed white ceramic mug.", + "Using the arm, secure the cylindrical mug with curved handle by edge contact point 0, lift, align the cylindrical mug with curved handle with the angled rack with long and short rods, hang the cylindrical mug with curved handle on the angled rack with long and short rods, and let go.", + "Grab the mug with blue print at edge contact point 0, lift the mug with blue print, move it to the dark gray angled rack, hook the mug with blue print onto the dark gray angled rack, and release the mug with blue print.", + "Direct the arm to grip the white ceramic mug with handle at edge contact point 0, pick the white ceramic mug with handle up, carry it to the metallic angular rack with rod pair, hang the white ceramic mug with handle on the metallic angular rack with rod pair, and release.", + "Have the arm grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the smooth dark gray rack, hang the printed white ceramic mug from the smooth dark gray rack, then release.", + "With the arm, reach the white mug, grasp the white mug by edge contact point 0, lift, align it to the metal rack, hang the white mug on the metal rack, then release the white mug.", + "Pick up the mug for drinking liquids by edge contact point 0, move the mug for drinking liquids to the dark gray rack, hang the mug for drinking liquids on the dark gray rack, and release the mug for drinking liquids once it holds.", + "Have the arm reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move to the angular rack with slanted support rod, hang the hand-sized mug with blue artwork on the angular rack with slanted support rod, then open the grip.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring the white mug with glossy finish to the dark gray angled rack, set the white mug with glossy finish onto the dark gray angled rack to hang, and release the white mug with glossy finish.", + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the ceramic mug onto the medium rack with protruding rods, and release the ceramic mug.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, then release.", + "With the arm, grasp the hand-sized mug with blue artwork by edge contact point 0, lift and transport the hand-sized mug with blue artwork to the angled rack with long and short rods, hang the hand-sized mug with blue artwork on the angled rack with long and short rods, then let go.", + "Reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, carry the cylindrical mug with curved handle to the metallic rack with smooth finish, hang the cylindrical mug with curved handle on the metallic rack with smooth finish, then release the cylindrical mug with curved handle.", + "Go to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it clear, align it with the rack with angular body, hang the mug for drinking liquids on the rack with angular body, and let go.", + "With the arm, approach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the angled rack with long and short rods, hang the medium mug with blue design on the angled rack with long and short rods, then let go.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design up, move the medium mug with blue design to the smooth dark gray rack, hang the medium mug with blue design on the smooth dark gray rack, and let go of the medium mug with blue design.", + "Move the arm toward the medium mug with blue design, grasp the medium mug with blue design at edge contact point 0, lift the medium mug with blue design, carry the medium mug with blue design to the rack with angular body, hang the medium mug with blue design on the rack with angular body, release the medium mug with blue design.", + "Reach for the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork clear, place the hand-sized mug with blue artwork onto the metallic rack with smooth finish to hang, then release the hand-sized mug with blue artwork.", + "Hold the ceramic mug at edge contact point 0, lift it up, move toward the metal rack, place the ceramic mug onto the metal rack to hang, then let go.", + "Take the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug in front of the angled rack with long and short rods, hang the smooth white mug onto the angled rack with long and short rods, then release the smooth white mug.", + "Direct the arm to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug clear, move to the metallic angular rack with rod pair, hang the smooth white mug on the metallic angular rack with rod pair, release the grip.", + "Approach the ceramic mug, take hold of the ceramic mug by edge contact point 0, raise it, bring it to the smooth dark gray rack, hook the ceramic mug onto the smooth dark gray rack, and let go.", + "Get to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print, bring it to the rack with two rods sticking out, hang the mug with blue print on the rack with two rods sticking out, and release.", + "Guide the arm to the mug with blue print, grip the mug with blue print by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and release.", + "Grab the ceramic mug at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, then release the grip.", + "Take the medium mug with blue design by edge contact point 0, lift it from its spot, carry the medium mug with blue design to the smooth rack, hang the medium mug with blue design on the smooth rack, then release the medium mug with blue design.", + "Grasp the cylindrical mug with curved handle at edge contact point 0, lift the cylindrical mug with curved handle from its spot, carry the cylindrical mug with curved handle to the angular rack with slanted support rod, hang the cylindrical mug with curved handle on the angular rack with slanted support rod, and release.", + "Bring the arm to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it, move to the metal rack, hang the cylindrical mug with curved handle on the metal rack, then let go.", + "Move the arm to the white mug, grasp the white mug by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, release the white mug.", + "Guide the arm to the white mug with glossy finish, grip the white mug with glossy finish at edge contact point 0, lift the white mug with glossy finish, align the white mug with glossy finish with the rack with two rods sticking out, hang the white mug with glossy finish on the rack with two rods sticking out, release the white mug with glossy finish.", + "With the arm, take the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the metallic angular rack with rod pair, hook the mug with blue print onto the metallic angular rack with rod pair, then open the grip.", + "Take the white mug by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, and release your grip.", + "With the arm, take hold of the printed white ceramic mug by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, then release.", + "Send the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it, carry the mug for drinking liquids to the smooth rack, hang the mug for drinking liquids on the smooth rack, and release the mug for drinking liquids.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move it over to the dark gray angled rack, hook the white mug with glossy finish onto the dark gray angled rack, and release the white mug with glossy finish.", + "Use the arm to grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, move toward the dark gray angled rack, hang the printed white ceramic mug on the dark gray angled rack, then release the printed white ceramic mug.", + "Take the white mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the white mug onto the medium rack with protruding rods so it hangs, then let go.", + "Move the arm toward the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the mug with blue print onto the metallic angular rack with rod pair to hang, then release.", + "Use the arm to grab the smooth white mug by edge contact point 0, lift the smooth white mug, move over to the metallic angular rack with rod pair, hang the smooth white mug on the metallic angular rack with rod pair, and release the smooth white mug.", + "Grab the cylindrical mug with curved handle at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the cylindrical mug with curved handle onto the medium rack with protruding rods so it hangs, then release the cylindrical mug with curved handle.", + "Using the arm, take the cylindrical mug with curved handle at edge contact point 0, raise the cylindrical mug with curved handle, move to the metallic angular rack with rod pair, hook the cylindrical mug with curved handle onto the metallic angular rack with rod pair, and release the cylindrical mug with curved handle.", + "Using the arm, secure the smooth white mug by edge contact point 0, lift, align the smooth white mug with the dark gray angled rack, hang the smooth white mug on the dark gray angled rack, and let go.", + "Grab the printed white ceramic mug at edge contact point 0, lift the printed white ceramic mug, move it to the angular rack with slanted support rod, hook the printed white ceramic mug onto the angular rack with slanted support rod, and release the printed white ceramic mug.", + "Direct the arm to grip the mug with blue print at edge contact point 0, pick the mug with blue print up, carry it to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and release.", + "Have the arm grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the angular rack with slanted support rod, hang the white drinking mug with smooth surface from the angular rack with slanted support rod, then release.", + "With the arm, reach the white mug, grasp the white mug by edge contact point 0, lift, align it to the metal rack, hang the white mug on the metal rack, then release the white mug.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, and release the ceramic mug once it holds.", + "Have the arm reach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move to the rack with angular body, hang the white drinking mug with smooth surface on the rack with angular body, then open the grip.", + "Grasp the mug with blue print by edge contact point 0, lift the mug with blue print, bring the mug with blue print to the dark gray rack, set the mug with blue print onto the dark gray rack to hang, and release the mug with blue print.", + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the metal rack, hang the ceramic mug onto the metal rack, and release the ceramic mug.", + "Hold the mug for drinking liquids using edge contact point 0, lift the mug for drinking liquids up, bring the mug for drinking liquids to the angular rack with slanted support rod, hang the mug for drinking liquids on the angular rack with slanted support rod, then release.", + "With the arm, grasp the medium mug with blue design by edge contact point 0, lift and transport the medium mug with blue design to the rack with two rods sticking out, hang the medium mug with blue design on the rack with two rods sticking out, then let go.", + "Reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, carry the hand-sized mug with blue artwork to the smooth dark gray rack, hang the hand-sized mug with blue artwork on the smooth dark gray rack, then release the hand-sized mug with blue artwork.", + "Go to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it clear, align it with the dark gray rack, hang the cylindrical mug with curved handle on the dark gray rack, and let go.", + "With the arm, approach the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print, bring it to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, then let go.", + "Grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface up, move the white drinking mug with smooth surface to the rack with angular body, hang the white drinking mug with smooth surface on the rack with angular body, and let go of the white drinking mug with smooth surface.", + "Move the arm toward the white mug, grasp the white mug at edge contact point 0, lift the white mug, carry the white mug to the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, release the white mug.", + "Reach for the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, place the cylindrical mug with curved handle onto the metal rack to hang, then release the cylindrical mug with curved handle.", + "Hold the white ceramic mug with handle at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the white ceramic mug with handle onto the rack with two rods sticking out to hang, then let go.", + "Take the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids up, move the mug for drinking liquids in front of the metallic angular rack with rod pair, hang the mug for drinking liquids onto the metallic angular rack with rod pair, then release the mug for drinking liquids.", + "Direct the arm to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, move to the medium rack with protruding rods, hang the cylindrical mug with curved handle on the medium rack with protruding rods, release the grip.", + "Approach the white mug, take hold of the white mug by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the white mug onto the metallic rack with smooth finish, and let go.", + "Get to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the smooth rack, hang the smooth white mug on the smooth rack, and release.", + "Guide the arm to the mug for drinking liquids, grip the mug for drinking liquids by edge contact point 0, pick it up, move to the rack with angular body, hang the mug for drinking liquids on the rack with angular body, and release.", + "Grab the white mug at edge contact point 0, lift it, bring it to the smooth rack, hang the white mug on the smooth rack, then release the grip.", + "Take the white mug by edge contact point 0, lift it from its spot, carry the white mug to the angular rack with slanted support rod, hang the white mug on the angular rack with slanted support rod, then release the white mug.", + "Grasp the mug with blue print at edge contact point 0, lift the mug with blue print from its spot, carry the mug with blue print to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, and release.", + "Bring the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the mug for drinking liquids on the metallic angular rack with rod pair, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, release the ceramic mug.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, align the hand-sized mug with blue artwork with the dark gray angled rack, hang the hand-sized mug with blue artwork on the dark gray angled rack, release the hand-sized mug with blue artwork.", + "With the arm, take the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, move to the angular rack with slanted support rod, hook the cylindrical mug with curved handle onto the angular rack with slanted support rod, then open the grip.", + "Take the mug with blue print by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the mug with blue print on the smooth dark gray rack, and release your grip.", + "With the arm, take hold of the white ceramic mug with handle by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the white ceramic mug with handle on the rack with two rods sticking out, then release.", + "Send the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, carry the medium mug with blue design to the rack with angular body, hang the medium mug with blue design on the rack with angular body, and release the medium mug with blue design.", + "Grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move it over to the dark gray angled rack, hook the hand-sized mug with blue artwork onto the dark gray angled rack, and release the hand-sized mug with blue artwork.", + "Use the arm to grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move toward the metallic rack with smooth finish, hang the medium mug with blue design on the metallic rack with smooth finish, then release the medium mug with blue design.", + "Take the medium mug with blue design by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the medium mug with blue design onto the angled rack with long and short rods so it hangs, then let go.", + "Move the arm toward the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the white drinking mug with smooth surface onto the angular rack with slanted support rod to hang, then release.", + "Use the arm to grab the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move over to the medium rack with protruding rods, hang the hand-sized mug with blue artwork on the medium rack with protruding rods, and release the hand-sized mug with blue artwork.", + "Grab the mug for drinking liquids at edge contact point 0, raise it, guide it to the smooth rack, set the mug for drinking liquids onto the smooth rack so it hangs, then release the mug for drinking liquids.", + "Using the arm, take the white mug at edge contact point 0, raise the white mug, move to the rack with angular body, hook the white mug onto the rack with angular body, and release the white mug.", + "Using the arm, secure the white drinking mug with smooth surface by edge contact point 0, lift, align the white drinking mug with smooth surface with the dark gray rack, hang the white drinking mug with smooth surface on the dark gray rack, and let go.", + "Grab the printed white ceramic mug at edge contact point 0, lift the printed white ceramic mug, move it to the metallic angular rack with rod pair, hook the printed white ceramic mug onto the metallic angular rack with rod pair, and release the printed white ceramic mug.", + "Direct the arm to grip the medium mug with blue design at edge contact point 0, pick the medium mug with blue design up, carry it to the angular rack with slanted support rod, hang the medium mug with blue design on the angular rack with slanted support rod, and release.", + "Have the arm grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the dark gray rack, hang the medium mug with blue design from the dark gray rack, then release.", + "With the arm, reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift, align it to the dark gray angled rack, hang the hand-sized mug with blue artwork on the dark gray angled rack, then release the hand-sized mug with blue artwork.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the rack with angular body, hang the ceramic mug on the rack with angular body, and release the ceramic mug once it holds.", + "Have the arm reach the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print, move to the smooth rack, hang the mug with blue print on the smooth rack, then open the grip.", + "Grasp the mug with blue print by edge contact point 0, lift the mug with blue print, bring the mug with blue print to the metallic angular rack with rod pair, set the mug with blue print onto the metallic angular rack with rod pair to hang, and release the mug with blue print.", + "Grab the smooth white mug at edge contact point 0, pick it up, move it over to the angled rack with long and short rods, hang the smooth white mug onto the angled rack with long and short rods, and release the smooth white mug.", + "Hold the medium mug with blue design using edge contact point 0, lift the medium mug with blue design up, bring the medium mug with blue design to the medium rack with protruding rods, hang the medium mug with blue design on the medium rack with protruding rods, then release.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the dark gray angled rack, hang the white drinking mug with smooth surface on the dark gray angled rack, then let go.", + "Reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, carry the cylindrical mug with curved handle to the rack with two rods sticking out, hang the cylindrical mug with curved handle on the rack with two rods sticking out, then release the cylindrical mug with curved handle.", + "Go to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it clear, align it with the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, and let go.", + "With the arm, approach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, bring it to the angular rack with slanted support rod, hang the white ceramic mug with handle on the angular rack with slanted support rod, then let go.", + "Grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug up, move the printed white ceramic mug to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, and let go of the printed white ceramic mug.", + "Move the arm toward the ceramic mug, grasp the ceramic mug at edge contact point 0, lift the ceramic mug, carry the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, release the ceramic mug.", + "Reach for the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug clear, place the printed white ceramic mug onto the rack with angular body to hang, then release the printed white ceramic mug." + ], + "unseen": [ + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode35.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..3b80c3bed755c56c1052ec4786bc907554ecb746 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the mug with cartoon design by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the mug with cartoon design on the angular rack with slanted support rod, and release your grip.", + "With the arm, approach the mug with cartoon design, grasp the mug with cartoon design by edge contact point 0, lift the mug with cartoon design, bring it to the rack with two rods sticking out, hang the mug with cartoon design on the rack with two rods sticking out, then let go.", + "Move the arm toward the smooth ceramic mug, grasp the smooth ceramic mug at edge contact point 0, lift the smooth ceramic mug, carry the smooth ceramic mug to the smooth dark gray rack, hang the smooth ceramic mug on the smooth dark gray rack, release the smooth ceramic mug.", + "Direct the arm to the ceramic mug with cartoons, grasp the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons clear, move to the metal rack, hang the ceramic mug with cartoons on the metal rack, release the grip.", + "Bring the arm to the mug with yellow chicken image, grasp the mug with yellow chicken image by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the mug with yellow chicken image on the metallic rack with smooth finish, then let go.", + "Grab the medium mug fits in hand at edge contact point 0, pick it up, move it over to the smooth rack, hang the medium mug fits in hand onto the smooth rack, and release the medium mug fits in hand.", + "Grasp the beige mug by edge contact point 0, lift the beige mug up, move the beige mug to the rack with two rods sticking out, hang the beige mug on the rack with two rods sticking out, and let go of the beige mug.", + "Guide the arm to the mug with prints, grip the mug with prints at edge contact point 0, lift the mug with prints, align the mug with prints with the smooth dark gray rack, hang the mug with prints on the smooth dark gray rack, release the mug with prints.", + "Pick up the mug with prints by edge contact point 0, move the mug with prints to the dark gray angled rack, hang the mug with prints on the dark gray angled rack, and release the mug with prints once it holds.", + "With the arm, take the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons clear, move to the metallic rack with smooth finish, hook the ceramic mug with cartoons onto the metallic rack with smooth finish, then open the grip.", + "Take the curved handle mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the curved handle mug onto the medium rack with protruding rods so it hangs, then let go.", + "Reach for the medium light mug, grasp the medium light mug by edge contact point 0, lift the medium light mug clear, place the medium light mug onto the dark gray rack to hang, then release the medium light mug.", + "With the arm, reach the curved handle mug, grasp the curved handle mug by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the curved handle mug on the rack with two rods sticking out, then release the curved handle mug.", + "Use the arm to grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, move toward the smooth dark gray rack, hang the mug with yellow chicken image on the smooth dark gray rack, then release the mug with yellow chicken image.", + "Grab the ceramic mug with cartoons at edge contact point 0, raise it, guide it to the metal rack, set the ceramic mug with cartoons onto the metal rack so it hangs, then release the ceramic mug with cartoons.", + "Get to the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture, bring it to the metallic angular rack with rod pair, hang the mug with glossy texture on the metallic angular rack with rod pair, and release.", + "Grasp the ceramic mug with cartoons at edge contact point 0, lift the ceramic mug with cartoons from its spot, carry the ceramic mug with cartoons to the metal rack, hang the ceramic mug with cartoons on the metal rack, and release.", + "Use the arm to grab the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, move over to the rack with angular body, hang the mug with yellow chicken image on the rack with angular body, and release the mug with yellow chicken image.", + "Grab the mug with glossy texture at edge contact point 0, lift the mug with glossy texture, move it to the smooth rack, hook the mug with glossy texture onto the smooth rack, and release the mug with glossy texture.", + "Go to the mug with prints, grasp the mug with prints by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the mug with prints on the dark gray angled rack, and let go.", + "Have the arm reach the mug with yellow chicken image, grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, move to the medium rack with protruding rods, hang the mug with yellow chicken image on the medium rack with protruding rods, then open the grip.", + "Guide the arm to the mug with cartoon design, grip the mug with cartoon design by edge contact point 0, pick it up, move to the dark gray rack, hang the mug with cartoon design on the dark gray rack, and release.", + "Grasp the curved handle mug by edge contact point 0, lift the curved handle mug, bring the curved handle mug to the angled rack with long and short rods, set the curved handle mug onto the angled rack with long and short rods to hang, and release the curved handle mug.", + "Grasp the beige mug by edge contact point 0, lift the beige mug, move it over to the smooth dark gray rack, hook the beige mug onto the smooth dark gray rack, and release the beige mug.", + "Using the arm, secure the colorful cartoon mug by edge contact point 0, lift, align the colorful cartoon mug with the smooth dark gray rack, hang the colorful cartoon mug on the smooth dark gray rack, and let go.", + "With the arm, take hold of the medium mug fits in hand by edge contact point 0, pick it up, bring it to the dark gray rack, hang the medium mug fits in hand on the dark gray rack, then release.", + "Reach the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, carry the beige mug to the metallic angular rack with rod pair, hang the beige mug on the metallic angular rack with rod pair, then release the beige mug.", + "Take the mug for hot drinks by edge contact point 0, lift the mug for hot drinks up, move the mug for hot drinks in front of the angled rack with long and short rods, hang the mug for hot drinks onto the angled rack with long and short rods, then release the mug for hot drinks.", + "With the arm, grasp the mug with cartoon design by edge contact point 0, lift and transport the mug with cartoon design to the dark gray rack, hang the mug with cartoon design on the dark gray rack, then let go.", + "Send the arm to the medium light mug, grasp the medium light mug by edge contact point 0, lift it, carry the medium light mug to the dark gray rack, hang the medium light mug on the dark gray rack, and release the medium light mug.", + "Grab the beige mug at edge contact point 0, lift it, bring it to the rack with angular body, hang the beige mug on the rack with angular body, then release the grip.", + "Direct the arm to grip the medium light mug at edge contact point 0, pick the medium light mug up, carry it to the metallic angular rack with rod pair, hang the medium light mug on the metallic angular rack with rod pair, and release.", + "Approach the smooth ceramic mug, take hold of the smooth ceramic mug by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the smooth ceramic mug onto the angled rack with long and short rods, and let go.", + "Hold the mug with yellow chicken image at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the mug with yellow chicken image onto the rack with two rods sticking out to hang, then let go.", + "Have the arm grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the angular rack with slanted support rod, hang the beige mug from the angular rack with slanted support rod, then release.", + "Hold the mug with prints using edge contact point 0, lift the mug with prints up, bring the mug with prints to the dark gray angled rack, hang the mug with prints on the dark gray angled rack, then release.", + "Take the mug with glossy texture by edge contact point 0, lift it from its spot, carry the mug with glossy texture to the rack with angular body, hang the mug with glossy texture on the rack with angular body, then release the mug with glossy texture.", + "Move the arm to the curved handle mug, grasp the curved handle mug by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the curved handle mug on the metallic rack with smooth finish, release the curved handle mug.", + "Using the arm, take the smooth ceramic mug at edge contact point 0, raise the smooth ceramic mug, move to the rack with two rods sticking out, hook the smooth ceramic mug onto the rack with two rods sticking out, and release the smooth ceramic mug.", + "Move the arm toward the beige mug, grasp the beige mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the beige mug onto the angled rack with long and short rods to hang, then release.", + "Take the colorful cartoon mug by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the colorful cartoon mug on the metallic angular rack with rod pair, and release your grip.", + "With the arm, approach the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture, bring it to the dark gray angled rack, hang the mug with glossy texture on the dark gray angled rack, then let go.", + "Move the arm toward the mug for hot drinks, grasp the mug for hot drinks at edge contact point 0, lift the mug for hot drinks, carry the mug for hot drinks to the metallic rack with smooth finish, hang the mug for hot drinks on the metallic rack with smooth finish, release the mug for hot drinks.", + "Direct the arm to the curved handle mug, grasp the curved handle mug by edge contact point 0, lift the curved handle mug clear, move to the dark gray rack, hang the curved handle mug on the dark gray rack, release the grip.", + "Bring the arm to the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the mug with glossy texture on the medium rack with protruding rods, then let go.", + "Grab the beige mug at edge contact point 0, pick it up, move it over to the metal rack, hang the beige mug onto the metal rack, and release the beige mug.", + "Grasp the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug up, move the colorful cartoon mug to the smooth dark gray rack, hang the colorful cartoon mug on the smooth dark gray rack, and let go of the colorful cartoon mug.", + "Guide the arm to the mug with glossy texture, grip the mug with glossy texture at edge contact point 0, lift the mug with glossy texture, align the mug with glossy texture with the metallic rack with smooth finish, hang the mug with glossy texture on the metallic rack with smooth finish, release the mug with glossy texture.", + "Pick up the mug with prints by edge contact point 0, move the mug with prints to the angular rack with slanted support rod, hang the mug with prints on the angular rack with slanted support rod, and release the mug with prints once it holds.", + "With the arm, take the mug with glossy texture by edge contact point 0, lift the mug with glossy texture clear, move to the metallic angular rack with rod pair, hook the mug with glossy texture onto the metallic angular rack with rod pair, then open the grip.", + "Take the beige mug by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the beige mug onto the metallic angular rack with rod pair so it hangs, then let go.", + "Reach for the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture clear, place the mug with glossy texture onto the dark gray rack to hang, then release the mug with glossy texture.", + "With the arm, reach the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift, align it to the rack with angular body, hang the colorful cartoon mug on the rack with angular body, then release the colorful cartoon mug.", + "Use the arm to grasp the medium light mug by edge contact point 0, lift the medium light mug, move toward the angled rack with long and short rods, hang the medium light mug on the angled rack with long and short rods, then release the medium light mug.", + "Grab the smooth ceramic mug at edge contact point 0, raise it, guide it to the smooth rack, set the smooth ceramic mug onto the smooth rack so it hangs, then release the smooth ceramic mug.", + "Get to the mug with prints, grasp the mug with prints by edge contact point 0, lift the mug with prints, bring it to the angled rack with long and short rods, hang the mug with prints on the angled rack with long and short rods, and release.", + "Grasp the mug with yellow chicken image at edge contact point 0, lift the mug with yellow chicken image from its spot, carry the mug with yellow chicken image to the medium rack with protruding rods, hang the mug with yellow chicken image on the medium rack with protruding rods, and release.", + "Use the arm to grab the mug with prints by edge contact point 0, lift the mug with prints, move over to the rack with angular body, hang the mug with prints on the rack with angular body, and release the mug with prints.", + "Grab the mug with cartoon design at edge contact point 0, lift the mug with cartoon design, move it to the angled rack with long and short rods, hook the mug with cartoon design onto the angled rack with long and short rods, and release the mug with cartoon design.", + "Go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it clear, align it with the smooth rack, hang the smooth ceramic mug on the smooth rack, and let go.", + "Have the arm reach the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, move to the smooth dark gray rack, hang the beige mug on the smooth dark gray rack, then open the grip.", + "Guide the arm to the mug for hot drinks, grip the mug for hot drinks by edge contact point 0, pick it up, move to the dark gray rack, hang the mug for hot drinks on the dark gray rack, and release.", + "Grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks, bring the mug for hot drinks to the smooth rack, set the mug for hot drinks onto the smooth rack to hang, and release the mug for hot drinks.", + "Grasp the medium light mug by edge contact point 0, lift the medium light mug, move it over to the metal rack, hook the medium light mug onto the metal rack, and release the medium light mug.", + "Using the arm, secure the mug with glossy texture by edge contact point 0, lift, align the mug with glossy texture with the smooth rack, hang the mug with glossy texture on the smooth rack, and let go.", + "With the arm, take hold of the medium mug fits in hand by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the medium mug fits in hand on the rack with two rods sticking out, then release.", + "Reach the mug with yellow chicken image, grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, carry the mug with yellow chicken image to the dark gray angled rack, hang the mug with yellow chicken image on the dark gray angled rack, then release the mug with yellow chicken image.", + "Take the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug up, move the colorful cartoon mug in front of the metallic angular rack with rod pair, hang the colorful cartoon mug onto the metallic angular rack with rod pair, then release the colorful cartoon mug.", + "With the arm, grasp the medium light mug by edge contact point 0, lift and transport the medium light mug to the medium rack with protruding rods, hang the medium light mug on the medium rack with protruding rods, then let go.", + "Send the arm to the medium mug fits in hand, grasp the medium mug fits in hand by edge contact point 0, lift it, carry the medium mug fits in hand to the metallic rack with smooth finish, hang the medium mug fits in hand on the metallic rack with smooth finish, and release the medium mug fits in hand.", + "Grab the mug with cartoon design at edge contact point 0, lift it, bring it to the medium rack with protruding rods, hang the mug with cartoon design on the medium rack with protruding rods, then release the grip.", + "Direct the arm to grip the mug with yellow chicken image at edge contact point 0, pick the mug with yellow chicken image up, carry it to the dark gray rack, hang the mug with yellow chicken image on the dark gray rack, and release.", + "Approach the ceramic mug with cartoons, take hold of the ceramic mug with cartoons by edge contact point 0, raise it, bring it to the smooth dark gray rack, hook the ceramic mug with cartoons onto the smooth dark gray rack, and let go.", + "Hold the medium mug fits in hand at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the medium mug fits in hand onto the metallic rack with smooth finish to hang, then let go.", + "Have the arm grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture, bring it to the metallic angular rack with rod pair, hang the mug with glossy texture from the metallic angular rack with rod pair, then release.", + "Hold the ceramic mug with cartoons using edge contact point 0, lift the ceramic mug with cartoons up, bring the ceramic mug with cartoons to the smooth rack, hang the ceramic mug with cartoons on the smooth rack, then release.", + "Take the mug for hot drinks by edge contact point 0, lift it from its spot, carry the mug for hot drinks to the smooth rack, hang the mug for hot drinks on the smooth rack, then release the mug for hot drinks.", + "Move the arm to the mug with prints, grasp the mug with prints by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the mug with prints on the metallic rack with smooth finish, release the mug with prints.", + "Using the arm, take the mug with yellow chicken image at edge contact point 0, raise the mug with yellow chicken image, move to the dark gray rack, hook the mug with yellow chicken image onto the dark gray rack, and release the mug with yellow chicken image.", + "Move the arm toward the beige mug, grasp the beige mug by edge contact point 0, lift it, travel to the dark gray rack, place the beige mug onto the dark gray rack to hang, then release.", + "Take the mug with cartoon design by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the mug with cartoon design on the dark gray rack, and release your grip.", + "With the arm, approach the curved handle mug, grasp the curved handle mug by edge contact point 0, lift the curved handle mug, bring it to the dark gray angled rack, hang the curved handle mug on the dark gray angled rack, then let go.", + "Move the arm toward the mug for hot drinks, grasp the mug for hot drinks at edge contact point 0, lift the mug for hot drinks, carry the mug for hot drinks to the smooth dark gray rack, hang the mug for hot drinks on the smooth dark gray rack, release the mug for hot drinks.", + "Direct the arm to the medium light mug, grasp the medium light mug by edge contact point 0, lift the medium light mug clear, move to the metallic angular rack with rod pair, hang the medium light mug on the metallic angular rack with rod pair, release the grip.", + "Bring the arm to the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the mug with glossy texture on the angular rack with slanted support rod, then let go.", + "Grab the mug with yellow chicken image at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the mug with yellow chicken image onto the medium rack with protruding rods, and release the mug with yellow chicken image.", + "Grasp the medium mug fits in hand by edge contact point 0, lift the medium mug fits in hand up, move the medium mug fits in hand to the angular rack with slanted support rod, hang the medium mug fits in hand on the angular rack with slanted support rod, and let go of the medium mug fits in hand.", + "Guide the arm to the smooth ceramic mug, grip the smooth ceramic mug at edge contact point 0, lift the smooth ceramic mug, align the smooth ceramic mug with the rack with two rods sticking out, hang the smooth ceramic mug on the rack with two rods sticking out, release the smooth ceramic mug.", + "Pick up the medium mug fits in hand by edge contact point 0, move the medium mug fits in hand to the angular rack with slanted support rod, hang the medium mug fits in hand on the angular rack with slanted support rod, and release the medium mug fits in hand once it holds.", + "With the arm, take the curved handle mug by edge contact point 0, lift the curved handle mug clear, move to the angular rack with slanted support rod, hook the curved handle mug onto the angular rack with slanted support rod, then open the grip.", + "Take the mug with prints by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the mug with prints onto the smooth dark gray rack so it hangs, then let go.", + "Reach for the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug clear, place the beige mug onto the metallic angular rack with rod pair to hang, then release the beige mug.", + "With the arm, reach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift, align it to the dark gray angled rack, hang the smooth ceramic mug on the dark gray angled rack, then release the smooth ceramic mug.", + "Use the arm to grasp the medium mug fits in hand by edge contact point 0, lift the medium mug fits in hand, move toward the metallic angular rack with rod pair, hang the medium mug fits in hand on the metallic angular rack with rod pair, then release the medium mug fits in hand.", + "Grab the smooth ceramic mug at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the smooth ceramic mug onto the angular rack with slanted support rod so it hangs, then release the smooth ceramic mug.", + "Get to the medium light mug, grasp the medium light mug by edge contact point 0, lift the medium light mug, bring it to the smooth rack, hang the medium light mug on the smooth rack, and release.", + "Grasp the ceramic mug with cartoons at edge contact point 0, lift the ceramic mug with cartoons from its spot, carry the ceramic mug with cartoons to the rack with angular body, hang the ceramic mug with cartoons on the rack with angular body, and release.", + "Use the arm to grab the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons, move over to the rack with two rods sticking out, hang the ceramic mug with cartoons on the rack with two rods sticking out, and release the ceramic mug with cartoons.", + "Grab the mug with glossy texture at edge contact point 0, lift the mug with glossy texture, move it to the metallic rack with smooth finish, hook the mug with glossy texture onto the metallic rack with smooth finish, and release the mug with glossy texture.", + "Go to the medium mug fits in hand, grasp the medium mug fits in hand by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the medium mug fits in hand on the smooth dark gray rack, and let go." + ], + "unseen": [ + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release the cylindrical mug with handle.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the printed beige mug on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release the printed beige mug.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and let go of the printed beige mug.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release the printed beige mug.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the printed beige mug on the medium-sized rack, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the printed beige mug on the medium-sized rack, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release the cylindrical mug with handle.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the printed beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go of the cylindrical mug with handle.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release the printed beige mug.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and let go of the printed beige mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release the printed beige mug.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release the printed beige mug.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release the cylindrical mug with handle.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode36.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..125a8979ea0f88d00068b724dd69375a5b2d75ac --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the arm, take hold of the blue mug with solid texture by edge contact point 0, pick it up, bring it to the rack with angular body, hang the blue mug with solid texture on the rack with angular body, then release.", + "Grasp the mug with loop handle by edge contact point 0, lift the mug with loop handle up, move the mug with loop handle to the metal rack, hang the mug with loop handle on the metal rack, and let go of the mug with loop handle.", + "Use the arm to grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, move toward the angled rack with long and short rods, hang the mug with glossy surface on the angled rack with long and short rods, then release the mug with glossy surface.", + "Have the arm grasp the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug, bring it to the metallic angular rack with rod pair, hang the cylindrical blue mug from the metallic angular rack with rod pair, then release.", + "Move the arm toward the cylindrical blue mug, grasp the cylindrical blue mug at edge contact point 0, lift the cylindrical blue mug, carry the cylindrical blue mug to the metallic angular rack with rod pair, hang the cylindrical blue mug on the metallic angular rack with rod pair, release the cylindrical blue mug.", + "With the arm, approach the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, bring it to the rack with angular body, hang the standard blue tea mug on the rack with angular body, then let go.", + "Grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, bring the mug with glossy surface to the rack with two rods sticking out, set the mug with glossy surface onto the rack with two rods sticking out to hang, and release the mug with glossy surface.", + "With the arm, grasp the mug with loop handle by edge contact point 0, lift and transport the mug with loop handle to the smooth dark gray rack, hang the mug with loop handle on the smooth dark gray rack, then let go.", + "Direct the arm to the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug clear, move to the smooth dark gray rack, hang the standard blue tea mug on the smooth dark gray rack, release the grip.", + "Grab the cylindrical blue mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the cylindrical blue mug onto the smooth rack, and release the cylindrical blue mug.", + "Guide the arm to the blue mug with solid texture, grip the blue mug with solid texture by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the blue mug with solid texture on the angled rack with long and short rods, and release.", + "Move the arm toward the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift it, travel to the metal rack, place the medium-sized drinking mug onto the metal rack to hang, then release.", + "Using the arm, take the blue mug with solid texture at edge contact point 0, raise the blue mug with solid texture, move to the dark gray rack, hook the blue mug with solid texture onto the dark gray rack, and release the blue mug with solid texture.", + "Move the arm to the blue mug for hot drinks, grasp the blue mug for hot drinks by edge contact point 0, lift, carry to the dark gray angled rack, hang the blue mug for hot drinks on the dark gray angled rack, release the blue mug for hot drinks.", + "Approach the blue mug, take hold of the blue mug by edge contact point 0, raise it, bring it to the smooth rack, hook the blue mug onto the smooth rack, and let go.", + "Using the arm, secure the blue mug by edge contact point 0, lift, align the blue mug with the dark gray rack, hang the blue mug on the dark gray rack, and let go.", + "Reach the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, carry the standard blue tea mug to the smooth dark gray rack, hang the standard blue tea mug on the smooth dark gray rack, then release the standard blue tea mug.", + "Grab the handle-mounted blue drinking mug at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the handle-mounted blue drinking mug onto the rack with two rods sticking out so it hangs, then release the handle-mounted blue drinking mug.", + "With the arm, reach the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift, align it to the smooth rack, hang the medium-sized drinking mug on the smooth rack, then release the medium-sized drinking mug.", + "Direct the arm to grip the mug with glossy surface at edge contact point 0, pick the mug with glossy surface up, carry it to the smooth rack, hang the mug with glossy surface on the smooth rack, and release.", + "Hold the bright blue coffee mug at edge contact point 0, lift it up, move toward the dark gray rack, place the bright blue coffee mug onto the dark gray rack to hang, then let go.", + "Hold the blue mug with solid texture using edge contact point 0, lift the blue mug with solid texture up, bring the blue mug with solid texture to the rack with two rods sticking out, hang the blue mug with solid texture on the rack with two rods sticking out, then release.", + "Pick up the mug with glossy surface by edge contact point 0, move the mug with glossy surface to the rack with angular body, hang the mug with glossy surface on the rack with angular body, and release the mug with glossy surface once it holds.", + "Use the arm to grab the handle-mounted blue drinking mug by edge contact point 0, lift the handle-mounted blue drinking mug, move over to the dark gray angled rack, hang the handle-mounted blue drinking mug on the dark gray angled rack, and release the handle-mounted blue drinking mug.", + "Take the standard blue tea mug by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the standard blue tea mug on the dark gray rack, and release your grip.", + "Take the standard blue tea mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the standard blue tea mug onto the medium rack with protruding rods so it hangs, then let go.", + "Grasp the handle-mounted blue drinking mug by edge contact point 0, lift the handle-mounted blue drinking mug, move it over to the dark gray rack, hook the handle-mounted blue drinking mug onto the dark gray rack, and release the handle-mounted blue drinking mug.", + "Reach for the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift the mug with loop handle clear, place the mug with loop handle onto the smooth dark gray rack to hang, then release the mug with loop handle.", + "Get to the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, bring it to the angled rack with long and short rods, hang the mug with glossy surface on the angled rack with long and short rods, and release.", + "Guide the arm to the mug with loop handle, grip the mug with loop handle at edge contact point 0, lift the mug with loop handle, align the mug with loop handle with the smooth rack, hang the mug with loop handle on the smooth rack, release the mug with loop handle.", + "Have the arm reach the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, move to the metal rack, hang the round mug with curved handle on the metal rack, then open the grip.", + "Go to the blue mug for hot drinks, grasp the blue mug for hot drinks by edge contact point 0, lift it clear, align it with the smooth rack, hang the blue mug for hot drinks on the smooth rack, and let go.", + "Grab the mug with glossy surface at edge contact point 0, lift the mug with glossy surface, move it to the rack with angular body, hook the mug with glossy surface onto the rack with angular body, and release the mug with glossy surface.", + "Bring the arm to the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift it, move to the smooth rack, hang the round mug with curved handle on the smooth rack, then let go.", + "With the arm, take the mug with handle by edge contact point 0, lift the mug with handle clear, move to the angular rack with slanted support rod, hook the mug with handle onto the angular rack with slanted support rod, then open the grip.", + "Grab the cylindrical blue mug at edge contact point 0, lift it, bring it to the smooth rack, hang the cylindrical blue mug on the smooth rack, then release the grip.", + "Take the standard blue tea mug by edge contact point 0, lift the standard blue tea mug up, move the standard blue tea mug in front of the rack with angular body, hang the standard blue tea mug onto the rack with angular body, then release the standard blue tea mug.", + "Send the arm to the handle-mounted blue drinking mug, grasp the handle-mounted blue drinking mug by edge contact point 0, lift it, carry the handle-mounted blue drinking mug to the dark gray rack, hang the handle-mounted blue drinking mug on the dark gray rack, and release the handle-mounted blue drinking mug.", + "Grasp the mug with loop handle at edge contact point 0, lift the mug with loop handle from its spot, carry the mug with loop handle to the metal rack, hang the mug with loop handle on the metal rack, and release.", + "Take the round mug with curved handle by edge contact point 0, lift it from its spot, carry the round mug with curved handle to the dark gray angled rack, hang the round mug with curved handle on the dark gray angled rack, then release the round mug with curved handle.", + "With the arm, take hold of the cylindrical blue mug by edge contact point 0, pick it up, bring it to the smooth rack, hang the cylindrical blue mug on the smooth rack, then release.", + "Grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug up, move the medium-sized drinking mug to the rack with angular body, hang the medium-sized drinking mug on the rack with angular body, and let go of the medium-sized drinking mug.", + "Use the arm to grasp the bright blue coffee mug by edge contact point 0, lift the bright blue coffee mug, move toward the smooth dark gray rack, hang the bright blue coffee mug on the smooth dark gray rack, then release the bright blue coffee mug.", + "Have the arm grasp the blue mug for hot drinks by edge contact point 0, lift the blue mug for hot drinks, bring it to the metal rack, hang the blue mug for hot drinks from the metal rack, then release.", + "Move the arm toward the round mug with curved handle, grasp the round mug with curved handle at edge contact point 0, lift the round mug with curved handle, carry the round mug with curved handle to the dark gray rack, hang the round mug with curved handle on the dark gray rack, release the round mug with curved handle.", + "With the arm, approach the mug with handle, grasp the mug with handle by edge contact point 0, lift the mug with handle, bring it to the smooth dark gray rack, hang the mug with handle on the smooth dark gray rack, then let go.", + "Grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, bring the standard blue tea mug to the dark gray rack, set the standard blue tea mug onto the dark gray rack to hang, and release the standard blue tea mug.", + "With the arm, grasp the standard blue tea mug by edge contact point 0, lift and transport the standard blue tea mug to the dark gray angled rack, hang the standard blue tea mug on the dark gray angled rack, then let go.", + "Direct the arm to the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug clear, move to the metallic angular rack with rod pair, hang the cylindrical blue mug on the metallic angular rack with rod pair, release the grip.", + "Grab the round mug with curved handle at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the round mug with curved handle onto the smooth dark gray rack, and release the round mug with curved handle.", + "Guide the arm to the blue mug for hot drinks, grip the blue mug for hot drinks by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the blue mug for hot drinks on the metallic angular rack with rod pair, and release.", + "Move the arm toward the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the round mug with curved handle onto the metallic rack with smooth finish to hang, then release.", + "Using the arm, take the blue mug for hot drinks at edge contact point 0, raise the blue mug for hot drinks, move to the smooth dark gray rack, hook the blue mug for hot drinks onto the smooth dark gray rack, and release the blue mug for hot drinks.", + "Move the arm to the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift, carry to the smooth dark gray rack, hang the mug with loop handle on the smooth dark gray rack, release the mug with loop handle.", + "Approach the mug with glossy surface, take hold of the mug with glossy surface by edge contact point 0, raise it, bring it to the dark gray rack, hook the mug with glossy surface onto the dark gray rack, and let go.", + "Using the arm, secure the mug with glossy surface by edge contact point 0, lift, align the mug with glossy surface with the angular rack with slanted support rod, hang the mug with glossy surface on the angular rack with slanted support rod, and let go.", + "Reach the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift the standard blue tea mug, carry the standard blue tea mug to the medium rack with protruding rods, hang the standard blue tea mug on the medium rack with protruding rods, then release the standard blue tea mug.", + "Grab the mug with loop handle at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the mug with loop handle onto the metallic angular rack with rod pair so it hangs, then release the mug with loop handle.", + "With the arm, reach the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the mug with glossy surface on the metallic angular rack with rod pair, then release the mug with glossy surface.", + "Direct the arm to grip the blue mug with solid texture at edge contact point 0, pick the blue mug with solid texture up, carry it to the smooth dark gray rack, hang the blue mug with solid texture on the smooth dark gray rack, and release.", + "Hold the blue mug for hot drinks at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the blue mug for hot drinks onto the angled rack with long and short rods to hang, then let go.", + "Hold the blue mug with solid texture using edge contact point 0, lift the blue mug with solid texture up, bring the blue mug with solid texture to the smooth rack, hang the blue mug with solid texture on the smooth rack, then release.", + "Pick up the mug with handle by edge contact point 0, move the mug with handle to the metallic rack with smooth finish, hang the mug with handle on the metallic rack with smooth finish, and release the mug with handle once it holds.", + "Use the arm to grab the mug with handle by edge contact point 0, lift the mug with handle, move over to the rack with two rods sticking out, hang the mug with handle on the rack with two rods sticking out, and release the mug with handle.", + "Take the round mug with curved handle by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the round mug with curved handle on the medium rack with protruding rods, and release your grip.", + "Take the blue mug with solid texture by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the blue mug with solid texture onto the metallic rack with smooth finish so it hangs, then let go.", + "Grasp the handle-mounted blue drinking mug by edge contact point 0, lift the handle-mounted blue drinking mug, move it over to the smooth rack, hook the handle-mounted blue drinking mug onto the smooth rack, and release the handle-mounted blue drinking mug.", + "Reach for the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface clear, place the mug with glossy surface onto the dark gray rack to hang, then release the mug with glossy surface.", + "Get to the mug with loop handle, grasp the mug with loop handle by edge contact point 0, lift the mug with loop handle, bring it to the angled rack with long and short rods, hang the mug with loop handle on the angled rack with long and short rods, and release.", + "Guide the arm to the blue mug, grip the blue mug at edge contact point 0, lift the blue mug, align the blue mug with the medium rack with protruding rods, hang the blue mug on the medium rack with protruding rods, release the blue mug.", + "Have the arm reach the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle, move to the smooth rack, hang the round mug with curved handle on the smooth rack, then open the grip.", + "Go to the mug with glossy surface, grasp the mug with glossy surface by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the mug with glossy surface on the metallic rack with smooth finish, and let go.", + "Grab the mug with handle at edge contact point 0, lift the mug with handle, move it to the metal rack, hook the mug with handle onto the metal rack, and release the mug with handle.", + "Bring the arm to the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the standard blue tea mug on the metallic rack with smooth finish, then let go.", + "With the arm, take the mug with loop handle by edge contact point 0, lift the mug with loop handle clear, move to the metallic rack with smooth finish, hook the mug with loop handle onto the metallic rack with smooth finish, then open the grip.", + "Grab the handle-mounted blue drinking mug at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the handle-mounted blue drinking mug on the angular rack with slanted support rod, then release the grip.", + "Take the blue mug by edge contact point 0, lift the blue mug up, move the blue mug in front of the smooth dark gray rack, hang the blue mug onto the smooth dark gray rack, then release the blue mug.", + "Send the arm to the blue mug, grasp the blue mug by edge contact point 0, lift it, carry the blue mug to the metallic rack with smooth finish, hang the blue mug on the metallic rack with smooth finish, and release the blue mug.", + "Grasp the blue mug for hot drinks at edge contact point 0, lift the blue mug for hot drinks from its spot, carry the blue mug for hot drinks to the dark gray rack, hang the blue mug for hot drinks on the dark gray rack, and release.", + "Take the round mug with curved handle by edge contact point 0, lift it from its spot, carry the round mug with curved handle to the metallic rack with smooth finish, hang the round mug with curved handle on the metallic rack with smooth finish, then release the round mug with curved handle.", + "With the arm, take hold of the blue mug for hot drinks by edge contact point 0, pick it up, bring it to the metal rack, hang the blue mug for hot drinks on the metal rack, then release.", + "Grasp the mug with loop handle by edge contact point 0, lift the mug with loop handle up, move the mug with loop handle to the dark gray rack, hang the mug with loop handle on the dark gray rack, and let go of the mug with loop handle.", + "Use the arm to grasp the cylindrical blue mug by edge contact point 0, lift the cylindrical blue mug, move toward the angled rack with long and short rods, hang the cylindrical blue mug on the angled rack with long and short rods, then release the cylindrical blue mug.", + "Have the arm grasp the mug with glossy surface by edge contact point 0, lift the mug with glossy surface, bring it to the rack with two rods sticking out, hang the mug with glossy surface from the rack with two rods sticking out, then release.", + "Move the arm toward the handle-mounted blue drinking mug, grasp the handle-mounted blue drinking mug at edge contact point 0, lift the handle-mounted blue drinking mug, carry the handle-mounted blue drinking mug to the rack with angular body, hang the handle-mounted blue drinking mug on the rack with angular body, release the handle-mounted blue drinking mug.", + "With the arm, approach the blue mug with solid texture, grasp the blue mug with solid texture by edge contact point 0, lift the blue mug with solid texture, bring it to the metal rack, hang the blue mug with solid texture on the metal rack, then let go.", + "Grasp the medium-sized drinking mug by edge contact point 0, lift the medium-sized drinking mug, bring the medium-sized drinking mug to the metal rack, set the medium-sized drinking mug onto the metal rack to hang, and release the medium-sized drinking mug.", + "With the arm, grasp the mug with glossy surface by edge contact point 0, lift and transport the mug with glossy surface to the smooth rack, hang the mug with glossy surface on the smooth rack, then let go.", + "Direct the arm to the round mug with curved handle, grasp the round mug with curved handle by edge contact point 0, lift the round mug with curved handle clear, move to the rack with angular body, hang the round mug with curved handle on the rack with angular body, release the grip.", + "Grab the blue mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the blue mug onto the smooth rack, and release the blue mug.", + "Guide the arm to the cylindrical blue mug, grip the cylindrical blue mug by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the cylindrical blue mug on the smooth dark gray rack, and release.", + "Move the arm toward the standard blue tea mug, grasp the standard blue tea mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the standard blue tea mug onto the angled rack with long and short rods to hang, then release.", + "Using the arm, take the mug with glossy surface at edge contact point 0, raise the mug with glossy surface, move to the smooth rack, hook the mug with glossy surface onto the smooth rack, and release the mug with glossy surface.", + "Move the arm to the medium-sized drinking mug, grasp the medium-sized drinking mug by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the medium-sized drinking mug on the angled rack with long and short rods, release the medium-sized drinking mug.", + "Approach the round mug with curved handle, take hold of the round mug with curved handle by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the round mug with curved handle onto the metallic rack with smooth finish, and let go.", + "Using the arm, secure the bright blue coffee mug by edge contact point 0, lift, align the bright blue coffee mug with the metal rack, hang the bright blue coffee mug on the metal rack, and let go.", + "Reach the blue mug for hot drinks, grasp the blue mug for hot drinks by edge contact point 0, lift the blue mug for hot drinks, carry the blue mug for hot drinks to the smooth rack, hang the blue mug for hot drinks on the smooth rack, then release the blue mug for hot drinks.", + "Grab the mug with glossy surface at edge contact point 0, raise it, guide it to the metal rack, set the mug with glossy surface onto the metal rack so it hangs, then release the mug with glossy surface.", + "With the arm, reach the cylindrical blue mug, grasp the cylindrical blue mug by edge contact point 0, lift, align it to the metal rack, hang the cylindrical blue mug on the metal rack, then release the cylindrical blue mug.", + "Direct the arm to grip the handle-mounted blue drinking mug at edge contact point 0, pick the handle-mounted blue drinking mug up, carry it to the dark gray angled rack, hang the handle-mounted blue drinking mug on the dark gray angled rack, and release." + ], + "unseen": [ + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the drinking mug made of ceramic on the rack with straight and slanted rods, then let go.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release the drinking mug made of ceramic.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release.", + "Grasp the lightweight mug for beverages by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, bring it to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go of the lightweight mug for beverages.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release the lightweight mug for beverages.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release.", + "Grasp the lightweight mug for beverages by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and let go of the drinking mug made of ceramic.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release the smooth shiny blue mug.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go of the lightweight mug for beverages.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then release the lightweight mug for beverages.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and let go of the lightweight mug for beverages.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the drinking mug made of ceramic on the rack with straight and slanted rods, then let go.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release the smooth shiny blue mug.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go of the drinking mug made of ceramic.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the lightweight mug for beverages on the rack with straight and slanted rods, then let go.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release the drinking mug made of ceramic.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Grab the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go of the smooth shiny blue mug.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Move the arm to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring the smooth shiny blue mug to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then release the smooth shiny blue mug.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and let go of the drinking mug made of ceramic.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and let go.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go of the drinking mug made of ceramic.", + "Use the arm to grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the smooth shiny blue mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then release the lightweight mug for beverages.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release.", + "Grasp the lightweight mug for beverages by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and release.", + "Move to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then let go.", + "Using the arm, grab the drinking mug made of ceramic by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and let go.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go of the lightweight mug for beverages.", + "Use the arm to grasp the drinking mug made of ceramic by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the drinking mug made of ceramic on the rack with straight and slanted rods, then let go.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release the drinking mug made of ceramic.", + "Reach to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, then release.", + "Grasp the smooth shiny blue mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and release.", + "Move to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, then let go.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the rack with straight and slanted rods, hang the smooth shiny blue mug on the rack with straight and slanted rods, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, and let go of the lightweight mug for beverages.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, then release the drinking mug made of ceramic.", + "Reach to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, then release.", + "Grasp the lightweight mug for beverages by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and release.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Using the arm, grab the smooth shiny blue mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth shiny blue mug on the medium-sized rack, and let go.", + "Using the arm, go to the smooth shiny blue mug, grasp the smooth shiny blue mug by edge contact point 0, lift the smooth shiny blue mug, bring it to the dark gray rack with flat back, hang the smooth shiny blue mug on the dark gray rack with flat back, and release.", + "Grab the lightweight mug for beverages by edge contact point 0, lift the lightweight mug for beverages, carry it over to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, and let go of the lightweight mug for beverages.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Move the arm to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring the lightweight mug for beverages to the dark gray rack with flat back, hang the lightweight mug for beverages on the dark gray rack with flat back, then release the lightweight mug for beverages.", + "Reach to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the lightweight mug for beverages on the rack with straight and slanted rods, then release.", + "Grasp the drinking mug made of ceramic by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the drinking mug made of ceramic on the medium-sized rack, and release.", + "Move to the lightweight mug for beverages, grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, then let go.", + "Using the arm, grab the lightweight mug for beverages by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the lightweight mug for beverages on the medium-sized rack, and let go.", + "Using the arm, go to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, bring it to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, and release.", + "Grab the drinking mug made of ceramic by edge contact point 0, lift the drinking mug made of ceramic, carry it over to the rack with straight and slanted rods, hang the drinking mug made of ceramic on the rack with straight and slanted rods, and let go of the drinking mug made of ceramic.", + "Use the arm to grasp the lightweight mug for beverages by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the lightweight mug for beverages on the dark gray rack with flat back, then let go.", + "Move the arm to the drinking mug made of ceramic, grasp the drinking mug made of ceramic by edge contact point 0, lift it, bring the drinking mug made of ceramic to the dark gray rack with flat back, hang the drinking mug made of ceramic on the dark gray rack with flat back, then release the drinking mug made of ceramic." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode37.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..8d8bb792e7da14a0f0396ca6f6b329b8d7bfad7f --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move it over to the angular rack with slanted support rod, hook the cylindrical mug with curved handle onto the angular rack with slanted support rod, and release the cylindrical mug with curved handle.", + "Bring the arm to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the cylindrical mug with curved handle on the medium rack with protruding rods, then let go.", + "Using the arm, take the printed white ceramic mug at edge contact point 0, raise the printed white ceramic mug, move to the metallic rack with smooth finish, hook the printed white ceramic mug onto the metallic rack with smooth finish, and release the printed white ceramic mug.", + "With the arm, take hold of the mug for drinking liquids by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the mug for drinking liquids on the rack with two rods sticking out, then release.", + "Move the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the mug with blue print on the angled rack with long and short rods, release the mug with blue print.", + "Use the arm to grasp the white mug by edge contact point 0, lift the white mug, move toward the metallic angular rack with rod pair, hang the white mug on the metallic angular rack with rod pair, then release the white mug.", + "Guide the arm to the printed white ceramic mug, grip the printed white ceramic mug by edge contact point 0, pick it up, move to the dark gray rack, hang the printed white ceramic mug on the dark gray rack, and release.", + "Reach for the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, place the medium mug with blue design onto the dark gray angled rack to hang, then release the medium mug with blue design.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, then release.", + "Use the arm to grab the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move over to the metal rack, hang the cylindrical mug with curved handle on the metal rack, and release the cylindrical mug with curved handle.", + "Move the arm toward the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it, travel to the smooth dark gray rack, place the mug for drinking liquids onto the smooth dark gray rack to hang, then release.", + "Hold the white drinking mug with smooth surface at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the white drinking mug with smooth surface onto the angled rack with long and short rods to hang, then let go.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, bring the mug for drinking liquids to the medium rack with protruding rods, set the mug for drinking liquids onto the medium rack with protruding rods to hang, and release the mug for drinking liquids.", + "With the arm, grasp the white ceramic mug with handle by edge contact point 0, lift and transport the white ceramic mug with handle to the smooth rack, hang the white ceramic mug with handle on the smooth rack, then let go.", + "Grab the medium mug with blue design at edge contact point 0, raise it, guide it to the smooth rack, set the medium mug with blue design onto the smooth rack so it hangs, then release the medium mug with blue design.", + "Guide the arm to the smooth white mug, grip the smooth white mug at edge contact point 0, lift the smooth white mug, align the smooth white mug with the metallic angular rack with rod pair, hang the smooth white mug on the metallic angular rack with rod pair, release the smooth white mug.", + "Direct the arm to grip the printed white ceramic mug at edge contact point 0, pick the printed white ceramic mug up, carry it to the angular rack with slanted support rod, hang the printed white ceramic mug on the angular rack with slanted support rod, and release.", + "Take the ceramic mug by edge contact point 0, lift it, bring it over to the rack with angular body, place the ceramic mug onto the rack with angular body so it hangs, then let go.", + "Go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and let go.", + "Direct the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the angled rack with long and short rods, hang the medium mug with blue design on the angled rack with long and short rods, release the grip.", + "With the arm, approach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the metallic rack with smooth finish, hang the smooth white mug on the metallic rack with smooth finish, then let go.", + "Reach the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print, carry the mug with blue print to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, then release the mug with blue print.", + "Take the white mug with glossy finish by edge contact point 0, lift it from its spot, carry the white mug with glossy finish to the dark gray rack, hang the white mug with glossy finish on the dark gray rack, then release the white mug with glossy finish.", + "Grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug up, move the printed white ceramic mug to the dark gray rack, hang the printed white ceramic mug on the dark gray rack, and let go of the printed white ceramic mug.", + "Pick up the medium mug with blue design by edge contact point 0, move the medium mug with blue design to the metallic angular rack with rod pair, hang the medium mug with blue design on the metallic angular rack with rod pair, and release the medium mug with blue design once it holds.", + "Move the arm toward the smooth white mug, grasp the smooth white mug at edge contact point 0, lift the smooth white mug, carry the smooth white mug to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, release the smooth white mug.", + "Grab the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, move it to the rack with two rods sticking out, hook the white ceramic mug with handle onto the rack with two rods sticking out, and release the white ceramic mug with handle.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release your grip.", + "Get to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the metallic angular rack with rod pair, hang the white mug with glossy finish on the metallic angular rack with rod pair, and release.", + "Grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface from its spot, carry the white drinking mug with smooth surface to the dark gray rack, hang the white drinking mug with smooth surface on the dark gray rack, and release.", + "Using the arm, secure the smooth white mug by edge contact point 0, lift, align the smooth white mug with the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, and let go.", + "Grab the cylindrical mug with curved handle at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the cylindrical mug with curved handle onto the smooth dark gray rack, and release the cylindrical mug with curved handle.", + "Have the arm grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, bring it to the metallic angular rack with rod pair, hang the cylindrical mug with curved handle from the metallic angular rack with rod pair, then release.", + "Send the arm to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it, carry the smooth white mug to the smooth dark gray rack, hang the smooth white mug on the smooth dark gray rack, and release the smooth white mug.", + "With the arm, reach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the white drinking mug with smooth surface on the rack with two rods sticking out, then release the white drinking mug with smooth surface.", + "Approach the white ceramic mug with handle, take hold of the white ceramic mug with handle by edge contact point 0, raise it, bring it to the smooth rack, hook the white ceramic mug with handle onto the smooth rack, and let go.", + "Have the arm reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, then open the grip.", + "With the arm, take the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle clear, move to the rack with angular body, hook the white ceramic mug with handle onto the rack with angular body, then open the grip.", + "Take the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug in front of the metallic rack with smooth finish, hang the smooth white mug onto the metallic rack with smooth finish, then release the smooth white mug.", + "Grab the mug for drinking liquids at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the mug for drinking liquids on the angular rack with slanted support rod, then release the grip.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move it over to the metallic rack with smooth finish, hook the medium mug with blue design onto the metallic rack with smooth finish, and release the medium mug with blue design.", + "Bring the arm to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, then let go.", + "Using the arm, take the ceramic mug at edge contact point 0, raise the ceramic mug, move to the smooth rack, hook the ceramic mug onto the smooth rack, and release the ceramic mug.", + "With the arm, take hold of the white ceramic mug with handle by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the white ceramic mug with handle on the dark gray angled rack, then release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, release the ceramic mug.", + "Use the arm to grasp the smooth white mug by edge contact point 0, lift the smooth white mug, move toward the angled rack with long and short rods, hang the smooth white mug on the angled rack with long and short rods, then release the smooth white mug.", + "Guide the arm to the white drinking mug with smooth surface, grip the white drinking mug with smooth surface by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, and release.", + "Reach for the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, place the cylindrical mug with curved handle onto the metallic angular rack with rod pair to hang, then release the cylindrical mug with curved handle.", + "Hold the mug with blue print using edge contact point 0, lift the mug with blue print up, bring the mug with blue print to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, then release.", + "Use the arm to grab the smooth white mug by edge contact point 0, lift the smooth white mug, move over to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, and release the smooth white mug.", + "Move the arm toward the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, travel to the dark gray angled rack, place the ceramic mug onto the dark gray angled rack to hang, then release.", + "Hold the hand-sized mug with blue artwork at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the hand-sized mug with blue artwork onto the medium rack with protruding rods to hang, then let go.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, bring the mug for drinking liquids to the dark gray angled rack, set the mug for drinking liquids onto the dark gray angled rack to hang, and release the mug for drinking liquids.", + "With the arm, grasp the mug for drinking liquids by edge contact point 0, lift and transport the mug for drinking liquids to the smooth dark gray rack, hang the mug for drinking liquids on the smooth dark gray rack, then let go.", + "Grab the white ceramic mug with handle at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the white ceramic mug with handle onto the medium rack with protruding rods so it hangs, then release the white ceramic mug with handle.", + "Guide the arm to the smooth white mug, grip the smooth white mug at edge contact point 0, lift the smooth white mug, align the smooth white mug with the smooth rack, hang the smooth white mug on the smooth rack, release the smooth white mug.", + "Direct the arm to grip the medium mug with blue design at edge contact point 0, pick the medium mug with blue design up, carry it to the metallic angular rack with rod pair, hang the medium mug with blue design on the metallic angular rack with rod pair, and release.", + "Take the white ceramic mug with handle by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the white ceramic mug with handle onto the dark gray angled rack so it hangs, then let go.", + "Go to the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the white ceramic mug with handle on the rack with two rods sticking out, and let go.", + "Direct the arm to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish clear, move to the metallic rack with smooth finish, hang the white mug with glossy finish on the metallic rack with smooth finish, release the grip.", + "With the arm, approach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, bring it to the metallic rack with smooth finish, hang the cylindrical mug with curved handle on the metallic rack with smooth finish, then let go.", + "Reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, carry the white mug to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, then release the white mug.", + "Take the smooth white mug by edge contact point 0, lift it from its spot, carry the smooth white mug to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, then release the smooth white mug.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids up, move the mug for drinking liquids to the rack with two rods sticking out, hang the mug for drinking liquids on the rack with two rods sticking out, and let go of the mug for drinking liquids.", + "Pick up the white ceramic mug with handle by edge contact point 0, move the white ceramic mug with handle to the angular rack with slanted support rod, hang the white ceramic mug with handle on the angular rack with slanted support rod, and release the white ceramic mug with handle once it holds.", + "Move the arm toward the white ceramic mug with handle, grasp the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, carry the white ceramic mug with handle to the metallic angular rack with rod pair, hang the white ceramic mug with handle on the metallic angular rack with rod pair, release the white ceramic mug with handle.", + "Grab the white mug with glossy finish at edge contact point 0, lift the white mug with glossy finish, move it to the angular rack with slanted support rod, hook the white mug with glossy finish onto the angular rack with slanted support rod, and release the white mug with glossy finish.", + "Take the mug for drinking liquids by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the mug for drinking liquids on the metallic rack with smooth finish, and release your grip.", + "Get to the white mug, grasp the white mug by edge contact point 0, lift the white mug, bring it to the metal rack, hang the white mug on the metal rack, and release.", + "Grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface from its spot, carry the white drinking mug with smooth surface to the angular rack with slanted support rod, hang the white drinking mug with smooth surface on the angular rack with slanted support rod, and release.", + "Using the arm, secure the white mug by edge contact point 0, lift, align the white mug with the metallic angular rack with rod pair, hang the white mug on the metallic angular rack with rod pair, and let go.", + "Grab the hand-sized mug with blue artwork at edge contact point 0, pick it up, move it over to the dark gray rack, hang the hand-sized mug with blue artwork onto the dark gray rack, and release the hand-sized mug with blue artwork.", + "Have the arm grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the metal rack, hang the white mug with glossy finish from the metal rack, then release.", + "Send the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it, carry the mug for drinking liquids to the metallic rack with smooth finish, hang the mug for drinking liquids on the metallic rack with smooth finish, and release the mug for drinking liquids.", + "With the arm, reach the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift, align it to the metal rack, hang the printed white ceramic mug on the metal rack, then release the printed white ceramic mug.", + "Approach the cylindrical mug with curved handle, take hold of the cylindrical mug with curved handle by edge contact point 0, raise it, bring it to the smooth rack, hook the cylindrical mug with curved handle onto the smooth rack, and let go.", + "Have the arm reach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move to the medium rack with protruding rods, hang the white drinking mug with smooth surface on the medium rack with protruding rods, then open the grip.", + "With the arm, take the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork clear, move to the smooth rack, hook the hand-sized mug with blue artwork onto the smooth rack, then open the grip.", + "Take the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug in front of the angular rack with slanted support rod, hang the smooth white mug onto the angular rack with slanted support rod, then release the smooth white mug.", + "Grab the mug with blue print at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the mug with blue print on the metallic angular rack with rod pair, then release the grip.", + "Grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move it over to the metallic angular rack with rod pair, hook the cylindrical mug with curved handle onto the metallic angular rack with rod pair, and release the cylindrical mug with curved handle.", + "Bring the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, move to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, then let go.", + "Using the arm, take the smooth white mug at edge contact point 0, raise the smooth white mug, move to the angular rack with slanted support rod, hook the smooth white mug onto the angular rack with slanted support rod, and release the smooth white mug.", + "With the arm, take hold of the ceramic mug by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, then release.", + "Move the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the mug with blue print on the metallic angular rack with rod pair, release the mug with blue print.", + "Use the arm to grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move toward the smooth rack, hang the medium mug with blue design on the smooth rack, then release the medium mug with blue design.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork by edge contact point 0, pick it up, move to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, and release.", + "Reach for the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface clear, place the white drinking mug with smooth surface onto the angular rack with slanted support rod to hang, then release the white drinking mug with smooth surface.", + "Hold the mug with blue print using edge contact point 0, lift the mug with blue print up, bring the mug with blue print to the angled rack with long and short rods, hang the mug with blue print on the angled rack with long and short rods, then release.", + "Use the arm to grab the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move over to the rack with angular body, hang the medium mug with blue design on the rack with angular body, and release the medium mug with blue design.", + "Move the arm toward the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, travel to the metal rack, place the medium mug with blue design onto the metal rack to hang, then release.", + "Hold the smooth white mug at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the smooth white mug onto the rack with two rods sticking out to hang, then let go.", + "Grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, bring the cylindrical mug with curved handle to the smooth rack, set the cylindrical mug with curved handle onto the smooth rack to hang, and release the cylindrical mug with curved handle.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the metallic rack with smooth finish, hang the white drinking mug with smooth surface on the metallic rack with smooth finish, then let go.", + "Grab the printed white ceramic mug at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the printed white ceramic mug onto the smooth dark gray rack so it hangs, then release the printed white ceramic mug.", + "Guide the arm to the mug with blue print, grip the mug with blue print at edge contact point 0, lift the mug with blue print, align the mug with blue print with the angular rack with slanted support rod, hang the mug with blue print on the angular rack with slanted support rod, release the mug with blue print.", + "Direct the arm to grip the medium mug with blue design at edge contact point 0, pick the medium mug with blue design up, carry it to the angular rack with slanted support rod, hang the medium mug with blue design on the angular rack with slanted support rod, and release.", + "Take the white ceramic mug with handle by edge contact point 0, lift it, bring it over to the metal rack, place the white ceramic mug with handle onto the metal rack so it hangs, then let go.", + "Go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and let go.", + "Direct the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the smooth rack, hang the mug with blue print on the smooth rack, release the grip." + ], + "unseen": [ + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode38.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..6a9d46d562f56d95b63ced40608e7a6547851d08 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the black mug at edge contact point 0, raise it, guide it to the rack with angular body, set the black mug onto the rack with angular body so it hangs, then release the black mug.", + "With the arm, take hold of the drinking mug shiny black exterior by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the drinking mug shiny black exterior on the rack with two rods sticking out, then release.", + "Reach for the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking clear, place the glossy black mug medium-sized for drinking onto the angular rack with slanted support rod to hang, then release the glossy black mug medium-sized for drinking.", + "With the arm, take the black ceramic mug by edge contact point 0, lift the black ceramic mug clear, move to the rack with angular body, hook the black ceramic mug onto the rack with angular body, then open the grip.", + "Using the arm, secure the mug with curved black handle by edge contact point 0, lift, align the mug with curved black handle with the rack with angular body, hang the mug with curved black handle on the rack with angular body, and let go.", + "Have the arm grasp the medium black mug with handle by edge contact point 0, lift the medium black mug with handle, bring it to the metal rack, hang the medium black mug with handle from the metal rack, then release.", + "Use the arm to grab the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, move over to the medium rack with protruding rods, hang the glossy black mug medium-sized for drinking on the medium rack with protruding rods, and release the glossy black mug medium-sized for drinking.", + "With the arm, reach the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift, align it to the smooth rack, hang the ceramic mug smooth outside on the smooth rack, then release the ceramic mug smooth outside.", + "Grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, move it over to the rack with two rods sticking out, hook the medium mug smooth rounded handle onto the rack with two rods sticking out, and release the medium mug smooth rounded handle.", + "Direct the arm to grip the mug with curved black handle at edge contact point 0, pick the mug with curved black handle up, carry it to the dark gray rack, hang the mug with curved black handle on the dark gray rack, and release.", + "Grab the palm-sized mug glossy black body at edge contact point 0, lift the palm-sized mug glossy black body, move it to the dark gray angled rack, hook the palm-sized mug glossy black body onto the dark gray angled rack, and release the palm-sized mug glossy black body.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it from its spot, carry the black mug glossy ceramic material to the metallic rack with smooth finish, hang the black mug glossy ceramic material on the metallic rack with smooth finish, then release the black mug glossy ceramic material.", + "Guide the arm to the medium black mug with handle, grip the medium black mug with handle by edge contact point 0, pick it up, move to the metal rack, hang the medium black mug with handle on the metal rack, and release.", + "Pick up the black mug glossy ceramic material by edge contact point 0, move the black mug glossy ceramic material to the dark gray angled rack, hang the black mug glossy ceramic material on the dark gray angled rack, and release the black mug glossy ceramic material once it holds.", + "Have the arm reach the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move to the metallic rack with smooth finish, hang the cylindrical mug with black finish on the metallic rack with smooth finish, then open the grip.", + "Go to the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the ceramic mug smooth outside on the rack with two rods sticking out, and let go.", + "Guide the arm to the black mug with rounded sturdy handle, grip the black mug with rounded sturdy handle at edge contact point 0, lift the black mug with rounded sturdy handle, align the black mug with rounded sturdy handle with the metallic angular rack with rod pair, hang the black mug with rounded sturdy handle on the metallic angular rack with rod pair, release the black mug with rounded sturdy handle.", + "Grab the ceramic mug smooth outside at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the ceramic mug smooth outside on the smooth dark gray rack, then release the grip.", + "Grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material up, move the black mug glossy ceramic material to the metallic angular rack with rod pair, hang the black mug glossy ceramic material on the metallic angular rack with rod pair, and let go of the black mug glossy ceramic material.", + "Move the arm toward the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle at edge contact point 0, lift the black mug with rounded sturdy handle, carry the black mug with rounded sturdy handle to the medium rack with protruding rods, hang the black mug with rounded sturdy handle on the medium rack with protruding rods, release the black mug with rounded sturdy handle.", + "Send the arm to the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, carry the glossy black mug medium-sized for drinking to the dark gray angled rack, hang the glossy black mug medium-sized for drinking on the dark gray angled rack, and release the glossy black mug medium-sized for drinking.", + "Move the arm to the black mug, grasp the black mug by edge contact point 0, lift, carry to the smooth rack, hang the black mug on the smooth rack, release the black mug.", + "Use the arm to grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, move toward the dark gray angled rack, hang the mug with curved black handle on the dark gray angled rack, then release the mug with curved black handle.", + "Hold the black mug with rounded sturdy handle using edge contact point 0, lift the black mug with rounded sturdy handle up, bring the black mug with rounded sturdy handle to the dark gray rack, hang the black mug with rounded sturdy handle on the dark gray rack, then release.", + "Reach the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, carry the black mug with rounded sturdy handle to the rack with two rods sticking out, hang the black mug with rounded sturdy handle on the rack with two rods sticking out, then release the black mug with rounded sturdy handle.", + "Grab the ceramic mug smooth outside at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the ceramic mug smooth outside onto the medium rack with protruding rods, and release the ceramic mug smooth outside.", + "Grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, bring the mug with curved black handle to the angular rack with slanted support rod, set the mug with curved black handle onto the angular rack with slanted support rod to hang, and release the mug with curved black handle.", + "Get to the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, bring it to the angled rack with long and short rods, hang the black mug with rounded sturdy handle on the angled rack with long and short rods, and release.", + "Take the mug with curved black handle by edge contact point 0, lift the mug with curved black handle up, move the mug with curved black handle in front of the dark gray rack, hang the mug with curved black handle onto the dark gray rack, then release the mug with curved black handle.", + "Take the mug with curved black handle by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the mug with curved black handle on the dark gray rack, and release your grip.", + "Hold the black mug with rounded sturdy handle at edge contact point 0, lift it up, move toward the metallic angular rack with rod pair, place the black mug with rounded sturdy handle onto the metallic angular rack with rod pair to hang, then let go.", + "Approach the black mug with rounded sturdy handle, take hold of the black mug with rounded sturdy handle by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the black mug with rounded sturdy handle onto the angular rack with slanted support rod, and let go.", + "Take the black ceramic mug by edge contact point 0, lift it, bring it over to the dark gray rack, place the black ceramic mug onto the dark gray rack so it hangs, then let go.", + "Move the arm toward the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift it, travel to the smooth rack, place the medium mug smooth rounded handle onto the smooth rack to hang, then release.", + "Direct the arm to the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle clear, move to the medium rack with protruding rods, hang the mug with curved black handle on the medium rack with protruding rods, release the grip.", + "With the arm, grasp the cylindrical mug with black finish by edge contact point 0, lift and transport the cylindrical mug with black finish to the smooth dark gray rack, hang the cylindrical mug with black finish on the smooth dark gray rack, then let go.", + "With the arm, approach the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, bring it to the medium rack with protruding rods, hang the mug with curved black handle on the medium rack with protruding rods, then let go.", + "Using the arm, take the mug with curved black handle at edge contact point 0, raise the mug with curved black handle, move to the rack with two rods sticking out, hook the mug with curved black handle onto the rack with two rods sticking out, and release the mug with curved black handle.", + "Bring the arm to the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift it, move to the angled rack with long and short rods, hang the black ceramic mug on the angled rack with long and short rods, then let go.", + "Grasp the black mug at edge contact point 0, lift the black mug from its spot, carry the black mug to the metal rack, hang the black mug on the metal rack, and release.", + "Grab the black mug at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the black mug onto the angled rack with long and short rods so it hangs, then release the black mug.", + "With the arm, take hold of the medium mug smooth rounded handle by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the medium mug smooth rounded handle on the smooth dark gray rack, then release.", + "Reach for the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish clear, place the cylindrical mug with black finish onto the smooth rack to hang, then release the cylindrical mug with black finish.", + "With the arm, take the mug with curved black handle by edge contact point 0, lift the mug with curved black handle clear, move to the rack with angular body, hook the mug with curved black handle onto the rack with angular body, then open the grip.", + "Using the arm, secure the glossy black mug medium-sized for drinking by edge contact point 0, lift, align the glossy black mug medium-sized for drinking with the dark gray angled rack, hang the glossy black mug medium-sized for drinking on the dark gray angled rack, and let go.", + "Have the arm grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material, bring it to the metal rack, hang the black mug glossy ceramic material from the metal rack, then release.", + "Use the arm to grab the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move over to the smooth rack, hang the cylindrical mug with black finish on the smooth rack, and release the cylindrical mug with black finish.", + "With the arm, reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift, align it to the medium rack with protruding rods, hang the glossy black mug medium-sized for drinking on the medium rack with protruding rods, then release the glossy black mug medium-sized for drinking.", + "Grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, move it over to the smooth rack, hook the mug with curved black handle onto the smooth rack, and release the mug with curved black handle.", + "Direct the arm to grip the medium black mug with handle at edge contact point 0, pick the medium black mug with handle up, carry it to the dark gray rack, hang the medium black mug with handle on the dark gray rack, and release.", + "Grab the cylindrical mug with black finish at edge contact point 0, lift the cylindrical mug with black finish, move it to the medium rack with protruding rods, hook the cylindrical mug with black finish onto the medium rack with protruding rods, and release the cylindrical mug with black finish.", + "Take the medium black mug with handle by edge contact point 0, lift it from its spot, carry the medium black mug with handle to the metal rack, hang the medium black mug with handle on the metal rack, then release the medium black mug with handle.", + "Guide the arm to the black mug glossy ceramic material, grip the black mug glossy ceramic material by edge contact point 0, pick it up, move to the metal rack, hang the black mug glossy ceramic material on the metal rack, and release.", + "Pick up the black mug with rounded sturdy handle by edge contact point 0, move the black mug with rounded sturdy handle to the smooth rack, hang the black mug with rounded sturdy handle on the smooth rack, and release the black mug with rounded sturdy handle once it holds.", + "Have the arm reach the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, move to the angular rack with slanted support rod, hang the mug with curved black handle on the angular rack with slanted support rod, then open the grip.", + "Go to the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the black mug glossy ceramic material on the angled rack with long and short rods, and let go.", + "Guide the arm to the ceramic mug smooth outside, grip the ceramic mug smooth outside at edge contact point 0, lift the ceramic mug smooth outside, align the ceramic mug smooth outside with the rack with angular body, hang the ceramic mug smooth outside on the rack with angular body, release the ceramic mug smooth outside.", + "Grab the drinking mug shiny black exterior at edge contact point 0, lift it, bring it to the dark gray rack, hang the drinking mug shiny black exterior on the dark gray rack, then release the grip.", + "Grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle up, move the black mug with rounded sturdy handle to the smooth rack, hang the black mug with rounded sturdy handle on the smooth rack, and let go of the black mug with rounded sturdy handle.", + "Move the arm toward the medium black mug with handle, grasp the medium black mug with handle at edge contact point 0, lift the medium black mug with handle, carry the medium black mug with handle to the metallic angular rack with rod pair, hang the medium black mug with handle on the metallic angular rack with rod pair, release the medium black mug with handle.", + "Send the arm to the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift it, carry the medium black mug with handle to the dark gray rack, hang the medium black mug with handle on the dark gray rack, and release the medium black mug with handle.", + "Move the arm to the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the medium black mug with handle on the angled rack with long and short rods, release the medium black mug with handle.", + "Use the arm to grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move toward the smooth rack, hang the ceramic mug smooth outside on the smooth rack, then release the ceramic mug smooth outside.", + "Hold the black mug glossy ceramic material using edge contact point 0, lift the black mug glossy ceramic material up, bring the black mug glossy ceramic material to the smooth rack, hang the black mug glossy ceramic material on the smooth rack, then release.", + "Reach the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift the medium black mug with handle, carry the medium black mug with handle to the angular rack with slanted support rod, hang the medium black mug with handle on the angular rack with slanted support rod, then release the medium black mug with handle.", + "Grab the black mug glossy ceramic material at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the black mug glossy ceramic material onto the dark gray angled rack, and release the black mug glossy ceramic material.", + "Grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, bring the medium mug smooth rounded handle to the medium rack with protruding rods, set the medium mug smooth rounded handle onto the medium rack with protruding rods to hang, and release the medium mug smooth rounded handle.", + "Get to the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, bring it to the metal rack, hang the black mug with rounded sturdy handle on the metal rack, and release.", + "Take the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking up, move the glossy black mug medium-sized for drinking in front of the medium rack with protruding rods, hang the glossy black mug medium-sized for drinking onto the medium rack with protruding rods, then release the glossy black mug medium-sized for drinking.", + "Take the palm-sized mug glossy black body by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the palm-sized mug glossy black body on the angular rack with slanted support rod, and release your grip.", + "Hold the ceramic mug smooth outside at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the ceramic mug smooth outside onto the rack with two rods sticking out to hang, then let go.", + "Approach the black mug with rounded sturdy handle, take hold of the black mug with rounded sturdy handle by edge contact point 0, raise it, bring it to the metal rack, hook the black mug with rounded sturdy handle onto the metal rack, and let go.", + "Take the ceramic mug smooth outside by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the ceramic mug smooth outside onto the rack with two rods sticking out so it hangs, then let go.", + "Move the arm toward the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the medium mug smooth rounded handle onto the angular rack with slanted support rod to hang, then release.", + "Direct the arm to the black mug, grasp the black mug by edge contact point 0, lift the black mug clear, move to the angular rack with slanted support rod, hang the black mug on the angular rack with slanted support rod, release the grip.", + "With the arm, grasp the cylindrical mug with black finish by edge contact point 0, lift and transport the cylindrical mug with black finish to the rack with two rods sticking out, hang the cylindrical mug with black finish on the rack with two rods sticking out, then let go.", + "With the arm, approach the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material, bring it to the smooth rack, hang the black mug glossy ceramic material on the smooth rack, then let go.", + "Using the arm, take the glossy black mug medium-sized for drinking at edge contact point 0, raise the glossy black mug medium-sized for drinking, move to the smooth dark gray rack, hook the glossy black mug medium-sized for drinking onto the smooth dark gray rack, and release the glossy black mug medium-sized for drinking.", + "Bring the arm to the black mug, grasp the black mug by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the black mug on the angular rack with slanted support rod, then let go.", + "Grasp the medium black mug with handle at edge contact point 0, lift the medium black mug with handle from its spot, carry the medium black mug with handle to the rack with two rods sticking out, hang the medium black mug with handle on the rack with two rods sticking out, and release.", + "Grab the medium mug smooth rounded handle at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the medium mug smooth rounded handle onto the medium rack with protruding rods so it hangs, then release the medium mug smooth rounded handle.", + "With the arm, take hold of the black mug with rounded sturdy handle by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the black mug with rounded sturdy handle on the metallic rack with smooth finish, then release.", + "Reach for the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish clear, place the cylindrical mug with black finish onto the rack with angular body to hang, then release the cylindrical mug with black finish.", + "With the arm, take the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle clear, move to the rack with two rods sticking out, hook the medium mug smooth rounded handle onto the rack with two rods sticking out, then open the grip.", + "Using the arm, secure the black mug by edge contact point 0, lift, align the black mug with the dark gray rack, hang the black mug on the dark gray rack, and let go.", + "Have the arm grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, bring it to the smooth dark gray rack, hang the black mug with rounded sturdy handle from the smooth dark gray rack, then release.", + "Use the arm to grab the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, move over to the metallic angular rack with rod pair, hang the glossy black mug medium-sized for drinking on the metallic angular rack with rod pair, and release the glossy black mug medium-sized for drinking.", + "With the arm, reach the black mug, grasp the black mug by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the black mug on the metallic rack with smooth finish, then release the black mug.", + "Grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move it over to the metallic rack with smooth finish, hook the ceramic mug smooth outside onto the metallic rack with smooth finish, and release the ceramic mug smooth outside.", + "Direct the arm to grip the black ceramic mug at edge contact point 0, pick the black ceramic mug up, carry it to the angled rack with long and short rods, hang the black ceramic mug on the angled rack with long and short rods, and release.", + "Grab the black mug glossy ceramic material at edge contact point 0, lift the black mug glossy ceramic material, move it to the dark gray angled rack, hook the black mug glossy ceramic material onto the dark gray angled rack, and release the black mug glossy ceramic material.", + "Take the medium mug smooth rounded handle by edge contact point 0, lift it from its spot, carry the medium mug smooth rounded handle to the dark gray rack, hang the medium mug smooth rounded handle on the dark gray rack, then release the medium mug smooth rounded handle.", + "Guide the arm to the black mug, grip the black mug by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the black mug on the metallic angular rack with rod pair, and release.", + "Pick up the cylindrical mug with black finish by edge contact point 0, move the cylindrical mug with black finish to the rack with two rods sticking out, hang the cylindrical mug with black finish on the rack with two rods sticking out, and release the cylindrical mug with black finish once it holds.", + "Have the arm reach the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, move to the smooth rack, hang the mug with curved black handle on the smooth rack, then open the grip.", + "Go to the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift it clear, align it with the smooth rack, hang the mug with curved black handle on the smooth rack, and let go.", + "Guide the arm to the medium mug smooth rounded handle, grip the medium mug smooth rounded handle at edge contact point 0, lift the medium mug smooth rounded handle, align the medium mug smooth rounded handle with the dark gray rack, hang the medium mug smooth rounded handle on the dark gray rack, release the medium mug smooth rounded handle.", + "Grab the medium black mug with handle at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the medium black mug with handle on the angular rack with slanted support rod, then release the grip.", + "Grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle up, move the black mug with rounded sturdy handle to the dark gray rack, hang the black mug with rounded sturdy handle on the dark gray rack, and let go of the black mug with rounded sturdy handle.", + "Move the arm toward the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking at edge contact point 0, lift the glossy black mug medium-sized for drinking, carry the glossy black mug medium-sized for drinking to the rack with angular body, hang the glossy black mug medium-sized for drinking on the rack with angular body, release the glossy black mug medium-sized for drinking." + ], + "unseen": [ + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go of the rounded mug with glossy shine.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release the rounded mug with glossy shine.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go of the rounded mug with glossy shine.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release the mug for liquids black ceramic body.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release the mug for liquids black ceramic body.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go of the cylindrical drinking mug black color.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go of the mug for liquids black ceramic body.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release the rounded mug with glossy shine.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release the cylindrical drinking mug black color.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release the rounded mug with glossy shine.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go of the cylindrical drinking mug black color.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go of the rounded mug with glossy shine.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release the cylindrical drinking mug black color.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go of the rounded mug with glossy shine.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and let go of the mug for liquids black ceramic body.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, then release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode39.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..c406a96bfdcad986c510ce975bcb3344dbd5c0c7 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Get to the white mug, grasp the white mug by edge contact point 0, lift the white mug, bring it to the rack with two rods sticking out, hang the white mug on the rack with two rods sticking out, and release.", + "Reach for the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids clear, place the mug for drinking liquids onto the angled rack with long and short rods to hang, then release the mug for drinking liquids.", + "Send the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, carry the medium mug with blue design to the dark gray angled rack, hang the medium mug with blue design on the dark gray angled rack, and release the medium mug with blue design.", + "With the arm, reach the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift, align it to the dark gray angled rack, hang the printed white ceramic mug on the dark gray angled rack, then release the printed white ceramic mug.", + "Grab the white mug at edge contact point 0, lift the white mug, move it to the smooth dark gray rack, hook the white mug onto the smooth dark gray rack, and release the white mug.", + "Move the arm toward the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the white mug with glossy finish onto the metallic angular rack with rod pair to hang, then release.", + "With the arm, approach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, bring it to the metal rack, hang the white ceramic mug with handle on the metal rack, then let go.", + "With the arm, take the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle clear, move to the medium rack with protruding rods, hook the white ceramic mug with handle onto the medium rack with protruding rods, then open the grip.", + "With the arm, grasp the mug for drinking liquids by edge contact point 0, lift and transport the mug for drinking liquids to the smooth dark gray rack, hang the mug for drinking liquids on the smooth dark gray rack, then let go.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move it over to the dark gray angled rack, hook the white mug with glossy finish onto the dark gray angled rack, and release the white mug with glossy finish.", + "Reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, carry the cylindrical mug with curved handle to the smooth rack, hang the cylindrical mug with curved handle on the smooth rack, then release the cylindrical mug with curved handle.", + "Pick up the mug with blue print by edge contact point 0, move the mug with blue print to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and release the mug with blue print once it holds.", + "With the arm, take hold of the white drinking mug with smooth surface by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the white drinking mug with smooth surface on the rack with two rods sticking out, then release.", + "Using the arm, take the smooth white mug at edge contact point 0, raise the smooth white mug, move to the smooth rack, hook the smooth white mug onto the smooth rack, and release the smooth white mug.", + "Have the arm reach the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, move to the smooth dark gray rack, hang the printed white ceramic mug on the smooth dark gray rack, then open the grip.", + "Direct the arm to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish clear, move to the angled rack with long and short rods, hang the white mug with glossy finish on the angled rack with long and short rods, release the grip.", + "Using the arm, secure the printed white ceramic mug by edge contact point 0, lift, align the printed white ceramic mug with the smooth dark gray rack, hang the printed white ceramic mug on the smooth dark gray rack, and let go.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, and release your grip.", + "Grab the mug for drinking liquids at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the mug for drinking liquids onto the rack with two rods sticking out so it hangs, then release the mug for drinking liquids.", + "Go to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the printed white ceramic mug on the dark gray angled rack, and let go.", + "Bring the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, then let go.", + "Direct the arm to grip the ceramic mug at edge contact point 0, pick the ceramic mug up, carry it to the dark gray rack, hang the ceramic mug on the dark gray rack, and release.", + "Have the arm grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, bring it to the angular rack with slanted support rod, hang the cylindrical mug with curved handle from the angular rack with slanted support rod, then release.", + "Grab the medium mug with blue design at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the medium mug with blue design onto the angular rack with slanted support rod, and release the medium mug with blue design.", + "Approach the cylindrical mug with curved handle, take hold of the cylindrical mug with curved handle by edge contact point 0, raise it, bring it to the smooth rack, hook the cylindrical mug with curved handle onto the smooth rack, and let go.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, then release.", + "Guide the arm to the hand-sized mug with blue artwork, grip the hand-sized mug with blue artwork by edge contact point 0, pick it up, move to the metal rack, hang the hand-sized mug with blue artwork on the metal rack, and release.", + "Grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface up, move the white drinking mug with smooth surface to the smooth rack, hang the white drinking mug with smooth surface on the smooth rack, and let go of the white drinking mug with smooth surface.", + "Use the arm to grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move toward the rack with angular body, hang the cylindrical mug with curved handle on the rack with angular body, then release the cylindrical mug with curved handle.", + "Grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface from its spot, carry the white drinking mug with smooth surface to the smooth dark gray rack, hang the white drinking mug with smooth surface on the smooth dark gray rack, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the metal rack, hang the ceramic mug on the metal rack, release the ceramic mug.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring the medium mug with blue design to the angled rack with long and short rods, set the medium mug with blue design onto the angled rack with long and short rods to hang, and release the medium mug with blue design.", + "Move the arm toward the white mug with glossy finish, grasp the white mug with glossy finish at edge contact point 0, lift the white mug with glossy finish, carry the white mug with glossy finish to the smooth dark gray rack, hang the white mug with glossy finish on the smooth dark gray rack, release the white mug with glossy finish.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it from its spot, carry the white drinking mug with smooth surface to the medium rack with protruding rods, hang the white drinking mug with smooth surface on the medium rack with protruding rods, then release the white drinking mug with smooth surface.", + "Take the white mug by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the white mug onto the metallic rack with smooth finish so it hangs, then let go.", + "Use the arm to grab the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move over to the medium rack with protruding rods, hang the white mug with glossy finish on the medium rack with protruding rods, and release the white mug with glossy finish.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork up, move the hand-sized mug with blue artwork in front of the metallic rack with smooth finish, hang the hand-sized mug with blue artwork onto the metallic rack with smooth finish, then release the hand-sized mug with blue artwork.", + "Grab the medium mug with blue design at edge contact point 0, lift it, bring it to the smooth rack, hang the medium mug with blue design on the smooth rack, then release the grip.", + "Guide the arm to the ceramic mug, grip the ceramic mug at edge contact point 0, lift the ceramic mug, align the ceramic mug with the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, release the ceramic mug.", + "Hold the ceramic mug at edge contact point 0, lift it up, move toward the rack with angular body, place the ceramic mug onto the rack with angular body to hang, then let go.", + "Get to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the angular rack with slanted support rod, hang the white mug with glossy finish on the angular rack with slanted support rod, and release.", + "Reach for the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids clear, place the mug for drinking liquids onto the dark gray rack to hang, then release the mug for drinking liquids.", + "Send the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry the ceramic mug to the metal rack, hang the ceramic mug on the metal rack, and release the ceramic mug.", + "With the arm, reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift, align it to the smooth dark gray rack, hang the white ceramic mug with handle on the smooth dark gray rack, then release the white ceramic mug with handle.", + "Grab the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, move it to the smooth rack, hook the white ceramic mug with handle onto the smooth rack, and release the white ceramic mug with handle.", + "Move the arm toward the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the smooth white mug onto the metallic angular rack with rod pair to hang, then release.", + "With the arm, approach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, bring it to the metallic angular rack with rod pair, hang the white ceramic mug with handle on the metallic angular rack with rod pair, then let go.", + "With the arm, take the white mug by edge contact point 0, lift the white mug clear, move to the dark gray angled rack, hook the white mug onto the dark gray angled rack, then open the grip.", + "With the arm, grasp the white mug by edge contact point 0, lift and transport the white mug to the rack with angular body, hang the white mug on the rack with angular body, then let go.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, move it over to the angular rack with slanted support rod, hook the mug for drinking liquids onto the angular rack with slanted support rod, and release the mug for drinking liquids.", + "Reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, carry the smooth white mug to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, then release the smooth white mug.", + "Pick up the smooth white mug by edge contact point 0, move the smooth white mug to the dark gray angled rack, hang the smooth white mug on the dark gray angled rack, and release the smooth white mug once it holds.", + "With the arm, take hold of the cylindrical mug with curved handle by edge contact point 0, pick it up, bring it to the metal rack, hang the cylindrical mug with curved handle on the metal rack, then release.", + "Using the arm, take the white drinking mug with smooth surface at edge contact point 0, raise the white drinking mug with smooth surface, move to the angular rack with slanted support rod, hook the white drinking mug with smooth surface onto the angular rack with slanted support rod, and release the white drinking mug with smooth surface.", + "Have the arm reach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move to the smooth rack, hang the medium mug with blue design on the smooth rack, then open the grip.", + "Direct the arm to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish clear, move to the smooth rack, hang the white mug with glossy finish on the smooth rack, release the grip.", + "Using the arm, secure the mug for drinking liquids by edge contact point 0, lift, align the mug for drinking liquids with the rack with angular body, hang the mug for drinking liquids on the rack with angular body, and let go.", + "Take the mug with blue print by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and release your grip.", + "Grab the mug for drinking liquids at edge contact point 0, raise it, guide it to the metal rack, set the mug for drinking liquids onto the metal rack so it hangs, then release the mug for drinking liquids.", + "Go to the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it clear, align it with the medium rack with protruding rods, hang the white ceramic mug with handle on the medium rack with protruding rods, and let go.", + "Bring the arm to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, move to the metal rack, hang the printed white ceramic mug on the metal rack, then let go.", + "Direct the arm to grip the mug for drinking liquids at edge contact point 0, pick the mug for drinking liquids up, carry it to the rack with two rods sticking out, hang the mug for drinking liquids on the rack with two rods sticking out, and release.", + "Have the arm grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the angled rack with long and short rods, hang the hand-sized mug with blue artwork from the angled rack with long and short rods, then release.", + "Grab the mug with blue print at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the mug with blue print onto the smooth dark gray rack, and release the mug with blue print.", + "Approach the printed white ceramic mug, take hold of the printed white ceramic mug by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the printed white ceramic mug onto the dark gray angled rack, and let go.", + "Hold the mug for drinking liquids using edge contact point 0, lift the mug for drinking liquids up, bring the mug for drinking liquids to the smooth dark gray rack, hang the mug for drinking liquids on the smooth dark gray rack, then release.", + "Guide the arm to the white ceramic mug with handle, grip the white ceramic mug with handle by edge contact point 0, pick it up, move to the angled rack with long and short rods, hang the white ceramic mug with handle on the angled rack with long and short rods, and release.", + "Grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle up, move the white ceramic mug with handle to the medium rack with protruding rods, hang the white ceramic mug with handle on the medium rack with protruding rods, and let go of the white ceramic mug with handle.", + "Use the arm to grasp the white mug by edge contact point 0, lift the white mug, move toward the smooth dark gray rack, hang the white mug on the smooth dark gray rack, then release the white mug.", + "Grasp the mug with blue print at edge contact point 0, lift the mug with blue print from its spot, carry the mug with blue print to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and release.", + "Move the arm to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the white mug with glossy finish on the metallic angular rack with rod pair, release the white mug with glossy finish.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring the medium mug with blue design to the metal rack, set the medium mug with blue design onto the metal rack to hang, and release the medium mug with blue design.", + "Move the arm toward the mug for drinking liquids, grasp the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids, carry the mug for drinking liquids to the rack with two rods sticking out, hang the mug for drinking liquids on the rack with two rods sticking out, release the mug for drinking liquids.", + "Take the white mug by edge contact point 0, lift it from its spot, carry the white mug to the metallic angular rack with rod pair, hang the white mug on the metallic angular rack with rod pair, then release the white mug.", + "Take the mug for drinking liquids by edge contact point 0, lift it, bring it over to the metal rack, place the mug for drinking liquids onto the metal rack so it hangs, then let go.", + "Use the arm to grab the ceramic mug by edge contact point 0, lift the ceramic mug, move over to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, and release the ceramic mug.", + "Take the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish up, move the white mug with glossy finish in front of the angular rack with slanted support rod, hang the white mug with glossy finish onto the angular rack with slanted support rod, then release the white mug with glossy finish.", + "Grab the white mug with glossy finish at edge contact point 0, lift it, bring it to the dark gray rack, hang the white mug with glossy finish on the dark gray rack, then release the grip.", + "Guide the arm to the cylindrical mug with curved handle, grip the cylindrical mug with curved handle at edge contact point 0, lift the cylindrical mug with curved handle, align the cylindrical mug with curved handle with the metallic angular rack with rod pair, hang the cylindrical mug with curved handle on the metallic angular rack with rod pair, release the cylindrical mug with curved handle.", + "Hold the ceramic mug at edge contact point 0, lift it up, move toward the angular rack with slanted support rod, place the ceramic mug onto the angular rack with slanted support rod to hang, then let go.", + "Get to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the smooth dark gray rack, hang the white mug with glossy finish on the smooth dark gray rack, and release.", + "Reach for the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle clear, place the white ceramic mug with handle onto the smooth rack to hang, then release the white ceramic mug with handle.", + "Send the arm to the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift it, carry the white mug with glossy finish to the rack with angular body, hang the white mug with glossy finish on the rack with angular body, and release the white mug with glossy finish.", + "With the arm, reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift, align it to the smooth rack, hang the smooth white mug on the smooth rack, then release the smooth white mug.", + "Grab the ceramic mug at edge contact point 0, lift the ceramic mug, move it to the dark gray angled rack, hook the ceramic mug onto the dark gray angled rack, and release the ceramic mug.", + "Move the arm toward the white mug, grasp the white mug by edge contact point 0, lift it, travel to the dark gray rack, place the white mug onto the dark gray rack to hang, then release.", + "With the arm, approach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the rack with angular body, hang the smooth white mug on the rack with angular body, then let go.", + "With the arm, take the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the dark gray angled rack, hook the mug with blue print onto the dark gray angled rack, then open the grip.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the angular rack with slanted support rod, hang the white drinking mug with smooth surface on the angular rack with slanted support rod, then let go.", + "Grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move it over to the angular rack with slanted support rod, hook the medium mug with blue design onto the angular rack with slanted support rod, and release the medium mug with blue design.", + "Reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, carry the smooth white mug to the metal rack, hang the smooth white mug on the metal rack, then release the smooth white mug.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the smooth rack, hang the ceramic mug on the smooth rack, and release the ceramic mug once it holds.", + "With the arm, take hold of the mug with blue print by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the mug with blue print on the smooth dark gray rack, then release.", + "Using the arm, take the mug for drinking liquids at edge contact point 0, raise the mug for drinking liquids, move to the dark gray angled rack, hook the mug for drinking liquids onto the dark gray angled rack, and release the mug for drinking liquids.", + "Have the arm reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move to the metal rack, hang the cylindrical mug with curved handle on the metal rack, then open the grip.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the metal rack, hang the ceramic mug on the metal rack, release the grip.", + "Using the arm, secure the cylindrical mug with curved handle by edge contact point 0, lift, align the cylindrical mug with curved handle with the rack with two rods sticking out, hang the cylindrical mug with curved handle on the rack with two rods sticking out, and let go.", + "Take the printed white ceramic mug by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the printed white ceramic mug on the angular rack with slanted support rod, and release your grip.", + "Grab the mug with blue print at edge contact point 0, raise it, guide it to the smooth rack, set the mug with blue print onto the smooth rack so it hangs, then release the mug with blue print.", + "Go to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it clear, align it with the metal rack, hang the mug for drinking liquids on the metal rack, and let go." + ], + "unseen": [ + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release the mug shaped like a cylinder.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode4.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..69fddf26f8ce7fe69d99a29e536afbf34c6cd7af --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the arm toward the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it, travel to the smooth dark gray rack, place the green drinking mug onto the smooth dark gray rack to hang, then release.", + "Grasp the round mug with one handle at edge contact point 0, lift the round mug with one handle from its spot, carry the round mug with one handle to the metal rack, hang the round mug with one handle on the metal rack, and release.", + "Move the arm to the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift, carry to the smooth dark gray rack, hang the medium mug with handle on the smooth dark gray rack, release the medium mug with handle.", + "With the arm, take hold of the dark green ceramic cup by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the dark green ceramic cup on the medium rack with protruding rods, then release.", + "Use the arm to grab the ceramic mug by edge contact point 0, lift the ceramic mug, move over to the smooth rack, hang the ceramic mug on the smooth rack, and release the ceramic mug.", + "Guide the arm to the smooth dark green mug, grip the smooth dark green mug by edge contact point 0, pick it up, move to the dark gray angled rack, hang the smooth dark green mug on the dark gray angled rack, and release.", + "Guide the arm to the logo mug, grip the logo mug at edge contact point 0, lift the logo mug, align the logo mug with the metallic rack with smooth finish, hang the logo mug on the metallic rack with smooth finish, release the logo mug.", + "With the arm, reach the green mug, grasp the green mug by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the green mug on the metallic rack with smooth finish, then release the green mug.", + "Grasp the green drinking mug by edge contact point 0, lift the green drinking mug, bring the green drinking mug to the smooth rack, set the green drinking mug onto the smooth rack to hang, and release the green drinking mug.", + "Move the arm toward the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug at edge contact point 0, lift the Starbucks branded coffee mug, carry the Starbucks branded coffee mug to the angular rack with slanted support rod, hang the Starbucks branded coffee mug on the angular rack with slanted support rod, release the Starbucks branded coffee mug.", + "With the arm, grasp the medium mug with handle by edge contact point 0, lift and transport the medium mug with handle to the rack with two rods sticking out, hang the medium mug with handle on the rack with two rods sticking out, then let go.", + "Grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup up, move the dark green ceramic cup to the metal rack, hang the dark green ceramic cup on the metal rack, and let go of the dark green ceramic cup.", + "Using the arm, secure the medium mug with handle by edge contact point 0, lift, align the medium mug with handle with the rack with angular body, hang the medium mug with handle on the rack with angular body, and let go.", + "Hold the ceramic mug for hot drinks at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the ceramic mug for hot drinks onto the medium rack with protruding rods to hang, then let go.", + "Direct the arm to grip the dark green ceramic cup at edge contact point 0, pick the dark green ceramic cup up, carry it to the metallic rack with smooth finish, hang the dark green ceramic cup on the metallic rack with smooth finish, and release.", + "Have the arm grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, bring it to the angled rack with long and short rods, hang the dark green ceramic cup from the angled rack with long and short rods, then release.", + "Bring the arm to the green mug, grasp the green mug by edge contact point 0, lift it, move to the angled rack with long and short rods, hang the green mug on the angled rack with long and short rods, then let go.", + "Approach the starbucks green mug, take hold of the starbucks green mug by edge contact point 0, raise it, bring it to the metal rack, hook the starbucks green mug onto the metal rack, and let go.", + "Hold the Starbucks branded coffee mug using edge contact point 0, lift the Starbucks branded coffee mug up, bring the Starbucks branded coffee mug to the angled rack with long and short rods, hang the Starbucks branded coffee mug on the angled rack with long and short rods, then release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move toward the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, then release the ceramic mug.", + "Take the dark green ceramic cup by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the dark green ceramic cup on the medium rack with protruding rods, and release your grip.", + "Send the arm to the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift it, carry the dark green ceramic cup to the angular rack with slanted support rod, hang the dark green ceramic cup on the angular rack with slanted support rod, and release the dark green ceramic cup.", + "Have the arm reach the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, move to the smooth rack, hang the smooth dark green mug on the smooth rack, then open the grip.", + "Take the ceramic mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the ceramic mug onto the medium rack with protruding rods so it hangs, then let go.", + "Grab the dark green ceramic cup at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the dark green ceramic cup on the smooth dark gray rack, then release the grip.", + "With the arm, approach the green mug, grasp the green mug by edge contact point 0, lift the green mug, bring it to the dark gray rack, hang the green mug on the dark gray rack, then let go.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the medium rack with protruding rods, hang the ceramic mug onto the medium rack with protruding rods, then release the ceramic mug.", + "Get to the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring it to the metallic angular rack with rod pair, hang the starbucks green mug on the metallic angular rack with rod pair, and release.", + "Grab the dark green ceramic cup at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the dark green ceramic cup onto the dark gray angled rack, and release the dark green ceramic cup.", + "Using the arm, take the green mug at edge contact point 0, raise the green mug, move to the rack with angular body, hook the green mug onto the rack with angular body, and release the green mug.", + "Reach for the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug clear, place the logo mug onto the dark gray angled rack to hang, then release the logo mug.", + "With the arm, take the starbucks green mug by edge contact point 0, lift the starbucks green mug clear, move to the medium rack with protruding rods, hook the starbucks green mug onto the medium rack with protruding rods, then open the grip.", + "Take the smooth dark green mug by edge contact point 0, lift it from its spot, carry the smooth dark green mug to the angular rack with slanted support rod, hang the smooth dark green mug on the angular rack with slanted support rod, then release the smooth dark green mug.", + "Pick up the Starbucks branded coffee mug by edge contact point 0, move the Starbucks branded coffee mug to the angled rack with long and short rods, hang the Starbucks branded coffee mug on the angled rack with long and short rods, and release the Starbucks branded coffee mug once it holds.", + "Reach the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, carry the medium-sized smooth green Starbucks mug to the angled rack with long and short rods, hang the medium-sized smooth green Starbucks mug on the angled rack with long and short rods, then release the medium-sized smooth green Starbucks mug.", + "Go to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the medium-sized smooth green Starbucks mug on the angular rack with slanted support rod, and let go.", + "Grab the logo mug at edge contact point 0, lift the logo mug, move it to the smooth dark gray rack, hook the logo mug onto the smooth dark gray rack, and release the logo mug.", + "Grab the round mug with one handle at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the round mug with one handle onto the angular rack with slanted support rod so it hangs, then release the round mug with one handle.", + "Grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, move it over to the dark gray rack, hook the Starbucks branded coffee mug onto the dark gray rack, and release the Starbucks branded coffee mug.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, release the grip.", + "Move the arm toward the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it, travel to the rack with angular body, place the green drinking mug onto the rack with angular body to hang, then release.", + "Grasp the smooth dark green mug at edge contact point 0, lift the smooth dark green mug from its spot, carry the smooth dark green mug to the angular rack with slanted support rod, hang the smooth dark green mug on the angular rack with slanted support rod, and release.", + "Move the arm to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the ceramic mug for hot drinks on the medium rack with protruding rods, release the ceramic mug for hot drinks.", + "With the arm, take hold of the Starbucks branded coffee mug by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the Starbucks branded coffee mug on the dark gray angled rack, then release.", + "Use the arm to grab the round mug with one handle by edge contact point 0, lift the round mug with one handle, move over to the dark gray rack, hang the round mug with one handle on the dark gray rack, and release the round mug with one handle.", + "Guide the arm to the medium-sized smooth green Starbucks mug, grip the medium-sized smooth green Starbucks mug by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the medium-sized smooth green Starbucks mug on the medium rack with protruding rods, and release.", + "Guide the arm to the green mug, grip the green mug at edge contact point 0, lift the green mug, align the green mug with the metallic rack with smooth finish, hang the green mug on the metallic rack with smooth finish, release the green mug.", + "With the arm, reach the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the dark green ceramic cup on the metallic angular rack with rod pair, then release the dark green ceramic cup.", + "Grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, bring the Starbucks branded coffee mug to the smooth rack, set the Starbucks branded coffee mug onto the smooth rack to hang, and release the Starbucks branded coffee mug.", + "Move the arm toward the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug at edge contact point 0, lift the medium-sized smooth green Starbucks mug, carry the medium-sized smooth green Starbucks mug to the dark gray angled rack, hang the medium-sized smooth green Starbucks mug on the dark gray angled rack, release the medium-sized smooth green Starbucks mug.", + "With the arm, grasp the ceramic mug for hot drinks by edge contact point 0, lift and transport the ceramic mug for hot drinks to the rack with two rods sticking out, hang the ceramic mug for hot drinks on the rack with two rods sticking out, then let go.", + "Grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks up, move the ceramic mug for hot drinks to the angular rack with slanted support rod, hang the ceramic mug for hot drinks on the angular rack with slanted support rod, and let go of the ceramic mug for hot drinks.", + "Using the arm, secure the Starbucks branded coffee mug by edge contact point 0, lift, align the Starbucks branded coffee mug with the medium rack with protruding rods, hang the Starbucks branded coffee mug on the medium rack with protruding rods, and let go.", + "Hold the dark green ceramic cup at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the dark green ceramic cup onto the medium rack with protruding rods to hang, then let go.", + "Direct the arm to grip the medium mug with handle at edge contact point 0, pick the medium mug with handle up, carry it to the angular rack with slanted support rod, hang the medium mug with handle on the angular rack with slanted support rod, and release.", + "Have the arm grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, bring it to the smooth rack, hang the medium mug with handle from the smooth rack, then release.", + "Bring the arm to the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it, move to the metal rack, hang the green drinking mug on the metal rack, then let go.", + "Approach the green mug, take hold of the green mug by edge contact point 0, raise it, bring it to the rack with angular body, hook the green mug onto the rack with angular body, and let go.", + "Hold the green drinking mug using edge contact point 0, lift the green drinking mug up, bring the green drinking mug to the dark gray angled rack, hang the green drinking mug on the dark gray angled rack, then release.", + "Use the arm to grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, move toward the dark gray rack, hang the medium mug with handle on the dark gray rack, then release the medium mug with handle.", + "Take the Starbucks branded coffee mug by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the Starbucks branded coffee mug on the metallic rack with smooth finish, and release your grip.", + "Send the arm to the green mug, grasp the green mug by edge contact point 0, lift it, carry the green mug to the metallic angular rack with rod pair, hang the green mug on the metallic angular rack with rod pair, and release the green mug.", + "Have the arm reach the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move to the dark gray angled rack, hang the dark green ceramic cup on the dark gray angled rack, then open the grip.", + "Take the round mug with one handle by edge contact point 0, lift it, bring it over to the smooth rack, place the round mug with one handle onto the smooth rack so it hangs, then let go.", + "Grab the medium mug with handle at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the medium mug with handle on the angled rack with long and short rods, then release the grip.", + "With the arm, approach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, bring it to the rack with angular body, hang the round mug with one handle on the rack with angular body, then let go.", + "Take the smooth dark green mug by edge contact point 0, lift the smooth dark green mug up, move the smooth dark green mug in front of the smooth rack, hang the smooth dark green mug onto the smooth rack, then release the smooth dark green mug.", + "Get to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, bring it to the dark gray angled rack, hang the medium-sized smooth green Starbucks mug on the dark gray angled rack, and release.", + "Grab the green drinking mug at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the green drinking mug onto the dark gray angled rack, and release the green drinking mug.", + "Using the arm, take the medium mug with handle at edge contact point 0, raise the medium mug with handle, move to the metal rack, hook the medium mug with handle onto the metal rack, and release the medium mug with handle.", + "Reach for the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug clear, place the logo mug onto the smooth dark gray rack to hang, then release the logo mug.", + "With the arm, take the smooth dark green mug by edge contact point 0, lift the smooth dark green mug clear, move to the smooth dark gray rack, hook the smooth dark green mug onto the smooth dark gray rack, then open the grip.", + "Take the smooth dark green mug by edge contact point 0, lift it from its spot, carry the smooth dark green mug to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, then release the smooth dark green mug.", + "Pick up the round mug with one handle by edge contact point 0, move the round mug with one handle to the rack with angular body, hang the round mug with one handle on the rack with angular body, and release the round mug with one handle once it holds.", + "Reach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, carry the logo mug to the angled rack with long and short rods, hang the logo mug on the angled rack with long and short rods, then release the logo mug.", + "Go to the green mug, grasp the green mug by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the green mug on the rack with two rods sticking out, and let go.", + "Grab the logo mug at edge contact point 0, lift the logo mug, move it to the rack with two rods sticking out, hook the logo mug onto the rack with two rods sticking out, and release the logo mug.", + "Grab the ceramic mug for hot drinks at edge contact point 0, raise it, guide it to the smooth rack, set the ceramic mug for hot drinks onto the smooth rack so it hangs, then release the ceramic mug for hot drinks.", + "Grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, move it over to the medium rack with protruding rods, hook the round mug with one handle onto the medium rack with protruding rods, and release the round mug with one handle.", + "Direct the arm to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks clear, move to the angled rack with long and short rods, hang the ceramic mug for hot drinks on the angled rack with long and short rods, release the grip.", + "Move the arm toward the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift it, travel to the metal rack, place the starbucks green mug onto the metal rack to hang, then release.", + "Grasp the starbucks green mug at edge contact point 0, lift the starbucks green mug from its spot, carry the starbucks green mug to the rack with two rods sticking out, hang the starbucks green mug on the rack with two rods sticking out, and release.", + "Move the arm to the logo mug, grasp the logo mug by edge contact point 0, lift, carry to the dark gray angled rack, hang the logo mug on the dark gray angled rack, release the logo mug.", + "With the arm, take hold of the dark green ceramic cup by edge contact point 0, pick it up, bring it to the metal rack, hang the dark green ceramic cup on the metal rack, then release.", + "Use the arm to grab the green mug by edge contact point 0, lift the green mug, move over to the dark gray rack, hang the green mug on the dark gray rack, and release the green mug.", + "Guide the arm to the logo mug, grip the logo mug by edge contact point 0, pick it up, move to the dark gray rack, hang the logo mug on the dark gray rack, and release.", + "Guide the arm to the Starbucks branded coffee mug, grip the Starbucks branded coffee mug at edge contact point 0, lift the Starbucks branded coffee mug, align the Starbucks branded coffee mug with the smooth dark gray rack, hang the Starbucks branded coffee mug on the smooth dark gray rack, release the Starbucks branded coffee mug.", + "With the arm, reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, align it to the dark gray rack, hang the ceramic mug on the dark gray rack, then release the ceramic mug.", + "Grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, bring the smooth dark green mug to the dark gray angled rack, set the smooth dark green mug onto the dark gray angled rack to hang, and release the smooth dark green mug.", + "Move the arm toward the medium mug with handle, grasp the medium mug with handle at edge contact point 0, lift the medium mug with handle, carry the medium mug with handle to the metallic angular rack with rod pair, hang the medium mug with handle on the metallic angular rack with rod pair, release the medium mug with handle.", + "With the arm, grasp the Starbucks branded coffee mug by edge contact point 0, lift and transport the Starbucks branded coffee mug to the metallic rack with smooth finish, hang the Starbucks branded coffee mug on the metallic rack with smooth finish, then let go.", + "Grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug up, move the medium-sized smooth green Starbucks mug to the angled rack with long and short rods, hang the medium-sized smooth green Starbucks mug on the angled rack with long and short rods, and let go of the medium-sized smooth green Starbucks mug.", + "Using the arm, secure the ceramic mug by edge contact point 0, lift, align the ceramic mug with the metal rack, hang the ceramic mug on the metal rack, and let go.", + "Hold the ceramic mug for hot drinks at edge contact point 0, lift it up, move toward the smooth rack, place the ceramic mug for hot drinks onto the smooth rack to hang, then let go.", + "Direct the arm to grip the ceramic mug at edge contact point 0, pick the ceramic mug up, carry it to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and release.", + "Have the arm grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, bring it to the smooth rack, hang the ceramic mug for hot drinks from the smooth rack, then release.", + "Bring the arm to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the round mug with one handle on the metallic rack with smooth finish, then let go.", + "Approach the medium mug with handle, take hold of the medium mug with handle by edge contact point 0, raise it, bring it to the rack with angular body, hook the medium mug with handle onto the rack with angular body, and let go.", + "Hold the round mug with one handle using edge contact point 0, lift the round mug with one handle up, bring the round mug with one handle to the smooth rack, hang the round mug with one handle on the smooth rack, then release.", + "Use the arm to grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, move toward the smooth rack, hang the ceramic mug for hot drinks on the smooth rack, then release the ceramic mug for hot drinks." + ], + "unseen": [ + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go of the mug with white logo print.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release the mug with white logo print.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go of the mug with white logo print.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go of the mug with white logo print.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release the mug with white logo print.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release the cylindrical mug with Starbucks logo.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode40.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..baae54731df11f30148e5295c437fcaac17a011d --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Have the arm reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move to the medium rack with protruding rods, hang the white ceramic mug with handle on the medium rack with protruding rods, then open the grip.", + "Take the mug with blue print by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the mug with blue print onto the dark gray angled rack so it hangs, then let go.", + "With the arm, take the white mug by edge contact point 0, lift the white mug clear, move to the metallic rack with smooth finish, hook the white mug onto the metallic rack with smooth finish, then open the grip.", + "Hold the cylindrical mug with curved handle using edge contact point 0, lift the cylindrical mug with curved handle up, bring the cylindrical mug with curved handle to the medium rack with protruding rods, hang the cylindrical mug with curved handle on the medium rack with protruding rods, then release.", + "Take the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug up, move the printed white ceramic mug in front of the rack with two rods sticking out, hang the printed white ceramic mug onto the rack with two rods sticking out, then release the printed white ceramic mug.", + "Send the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release the ceramic mug.", + "Take the medium mug with blue design by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the medium mug with blue design on the dark gray angled rack, and release your grip.", + "Direct the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the metal rack, hang the medium mug with blue design on the metal rack, release the grip.", + "Grasp the mug with blue print by edge contact point 0, lift the mug with blue print, move it over to the smooth rack, hook the mug with blue print onto the smooth rack, and release the mug with blue print.", + "Grasp the ceramic mug at edge contact point 0, lift the ceramic mug from its spot, carry the ceramic mug to the metal rack, hang the ceramic mug on the metal rack, and release.", + "Move the arm toward the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, carry the hand-sized mug with blue artwork to the smooth rack, hang the hand-sized mug with blue artwork on the smooth rack, release the hand-sized mug with blue artwork.", + "Using the arm, secure the mug for drinking liquids by edge contact point 0, lift, align the mug for drinking liquids with the rack with angular body, hang the mug for drinking liquids on the rack with angular body, and let go.", + "Direct the arm to grip the white drinking mug with smooth surface at edge contact point 0, pick the white drinking mug with smooth surface up, carry it to the dark gray rack, hang the white drinking mug with smooth surface on the dark gray rack, and release.", + "Grab the printed white ceramic mug at edge contact point 0, pick it up, move it over to the metal rack, hang the printed white ceramic mug onto the metal rack, and release the printed white ceramic mug.", + "With the arm, take hold of the smooth white mug by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the smooth white mug on the metallic rack with smooth finish, then release.", + "Hold the ceramic mug at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the ceramic mug onto the metallic rack with smooth finish to hang, then let go.", + "Grasp the mug with blue print by edge contact point 0, lift the mug with blue print, bring the mug with blue print to the dark gray angled rack, set the mug with blue print onto the dark gray angled rack to hang, and release the mug with blue print.", + "Grab the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, move it to the metallic angular rack with rod pair, hook the hand-sized mug with blue artwork onto the metallic angular rack with rod pair, and release the hand-sized mug with blue artwork.", + "Have the arm grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the angled rack with long and short rods, hang the hand-sized mug with blue artwork from the angled rack with long and short rods, then release.", + "Reach for the white mug, grasp the white mug by edge contact point 0, lift the white mug clear, place the white mug onto the metal rack to hang, then release the white mug.", + "Go to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the mug with blue print on the angled rack with long and short rods, and let go.", + "Bring the arm to the white mug, grasp the white mug by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the white mug on the metallic rack with smooth finish, then let go.", + "Grab the white mug at edge contact point 0, raise it, guide it to the metal rack, set the white mug onto the metal rack so it hangs, then release the white mug.", + "Move the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift, carry to the smooth rack, hang the mug for drinking liquids on the smooth rack, release the mug for drinking liquids.", + "Grasp the mug with blue print by edge contact point 0, lift the mug with blue print up, move the mug with blue print to the medium rack with protruding rods, hang the mug with blue print on the medium rack with protruding rods, and let go of the mug with blue print.", + "Reach the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, carry the hand-sized mug with blue artwork to the angular rack with slanted support rod, hang the hand-sized mug with blue artwork on the angular rack with slanted support rod, then release the hand-sized mug with blue artwork.", + "Using the arm, take the cylindrical mug with curved handle at edge contact point 0, raise the cylindrical mug with curved handle, move to the medium rack with protruding rods, hook the cylindrical mug with curved handle onto the medium rack with protruding rods, and release the cylindrical mug with curved handle.", + "Grab the white ceramic mug with handle at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the white ceramic mug with handle on the metallic rack with smooth finish, then release the grip.", + "With the arm, approach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the rack with two rods sticking out, hang the medium mug with blue design on the rack with two rods sticking out, then let go.", + "Pick up the hand-sized mug with blue artwork by edge contact point 0, move the hand-sized mug with blue artwork to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, and release the hand-sized mug with blue artwork once it holds.", + "With the arm, grasp the white ceramic mug with handle by edge contact point 0, lift and transport the white ceramic mug with handle to the dark gray angled rack, hang the white ceramic mug with handle on the dark gray angled rack, then let go.", + "Use the arm to grab the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move over to the rack with angular body, hang the cylindrical mug with curved handle on the rack with angular body, and release the cylindrical mug with curved handle.", + "With the arm, reach the mug with blue print, grasp the mug with blue print by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, then release the mug with blue print.", + "Approach the smooth white mug, take hold of the smooth white mug by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the smooth white mug onto the angled rack with long and short rods, and let go.", + "Guide the arm to the medium mug with blue design, grip the medium mug with blue design by edge contact point 0, pick it up, move to the smooth rack, hang the medium mug with blue design on the smooth rack, and release.", + "Get to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, bring it to the metallic rack with smooth finish, hang the medium mug with blue design on the metallic rack with smooth finish, and release.", + "Guide the arm to the smooth white mug, grip the smooth white mug at edge contact point 0, lift the smooth white mug, align the smooth white mug with the metallic rack with smooth finish, hang the smooth white mug on the metallic rack with smooth finish, release the smooth white mug.", + "Move the arm toward the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the mug for drinking liquids onto the angled rack with long and short rods to hang, then release.", + "Use the arm to grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move toward the medium rack with protruding rods, hang the cylindrical mug with curved handle on the medium rack with protruding rods, then release the cylindrical mug with curved handle.", + "Take the medium mug with blue design by edge contact point 0, lift it from its spot, carry the medium mug with blue design to the metallic rack with smooth finish, hang the medium mug with blue design on the metallic rack with smooth finish, then release the medium mug with blue design.", + "Have the arm reach the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move to the dark gray rack, hang the white ceramic mug with handle on the dark gray rack, then open the grip.", + "Take the medium mug with blue design by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the medium mug with blue design onto the dark gray angled rack so it hangs, then let go.", + "With the arm, take the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the rack with two rods sticking out, hook the medium mug with blue design onto the rack with two rods sticking out, then open the grip.", + "Hold the white mug with glossy finish using edge contact point 0, lift the white mug with glossy finish up, bring the white mug with glossy finish to the dark gray angled rack, hang the white mug with glossy finish on the dark gray angled rack, then release.", + "Take the mug with blue print by edge contact point 0, lift the mug with blue print up, move the mug with blue print in front of the smooth rack, hang the mug with blue print onto the smooth rack, then release the mug with blue print.", + "Send the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release the ceramic mug.", + "Take the white mug by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the white mug on the rack with two rods sticking out, and release your grip.", + "Direct the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the metallic angular rack with rod pair, hang the medium mug with blue design on the metallic angular rack with rod pair, release the grip.", + "Grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, move it over to the dark gray angled rack, hook the cylindrical mug with curved handle onto the dark gray angled rack, and release the cylindrical mug with curved handle.", + "Grasp the mug with blue print at edge contact point 0, lift the mug with blue print from its spot, carry the mug with blue print to the angled rack with long and short rods, hang the mug with blue print on the angled rack with long and short rods, and release.", + "Move the arm toward the white mug with glossy finish, grasp the white mug with glossy finish at edge contact point 0, lift the white mug with glossy finish, carry the white mug with glossy finish to the metallic rack with smooth finish, hang the white mug with glossy finish on the metallic rack with smooth finish, release the white mug with glossy finish.", + "Using the arm, secure the hand-sized mug with blue artwork by edge contact point 0, lift, align the hand-sized mug with blue artwork with the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, and let go.", + "Direct the arm to grip the mug for drinking liquids at edge contact point 0, pick the mug for drinking liquids up, carry it to the metallic angular rack with rod pair, hang the mug for drinking liquids on the metallic angular rack with rod pair, and release.", + "Grab the mug for drinking liquids at edge contact point 0, pick it up, move it over to the smooth rack, hang the mug for drinking liquids onto the smooth rack, and release the mug for drinking liquids.", + "With the arm, take hold of the mug for drinking liquids by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the mug for drinking liquids on the metallic angular rack with rod pair, then release.", + "Hold the smooth white mug at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the smooth white mug onto the medium rack with protruding rods to hang, then let go.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring the white mug with glossy finish to the dark gray rack, set the white mug with glossy finish onto the dark gray rack to hang, and release the white mug with glossy finish.", + "Grab the medium mug with blue design at edge contact point 0, lift the medium mug with blue design, move it to the smooth dark gray rack, hook the medium mug with blue design onto the smooth dark gray rack, and release the medium mug with blue design.", + "Have the arm grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the angular rack with slanted support rod, hang the smooth white mug from the angular rack with slanted support rod, then release.", + "Reach for the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle clear, place the cylindrical mug with curved handle onto the dark gray angled rack to hang, then release the cylindrical mug with curved handle.", + "Go to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift it clear, align it with the smooth rack, hang the smooth white mug on the smooth rack, and let go.", + "Bring the arm to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, then let go.", + "Grab the white ceramic mug with handle at edge contact point 0, raise it, guide it to the metal rack, set the white ceramic mug with handle onto the metal rack so it hangs, then release the white ceramic mug with handle.", + "Move the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift, carry to the smooth dark gray rack, hang the mug for drinking liquids on the smooth dark gray rack, release the mug for drinking liquids.", + "Grasp the white mug by edge contact point 0, lift the white mug up, move the white mug to the smooth dark gray rack, hang the white mug on the smooth dark gray rack, and let go of the white mug.", + "Reach the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift the cylindrical mug with curved handle, carry the cylindrical mug with curved handle to the metal rack, hang the cylindrical mug with curved handle on the metal rack, then release the cylindrical mug with curved handle.", + "Using the arm, take the medium mug with blue design at edge contact point 0, raise the medium mug with blue design, move to the metallic angular rack with rod pair, hook the medium mug with blue design onto the metallic angular rack with rod pair, and release the medium mug with blue design.", + "Grab the printed white ceramic mug at edge contact point 0, lift it, bring it to the medium rack with protruding rods, hang the printed white ceramic mug on the medium rack with protruding rods, then release the grip.", + "With the arm, approach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, bring it to the rack with two rods sticking out, hang the white mug with glossy finish on the rack with two rods sticking out, then let go.", + "Pick up the smooth white mug by edge contact point 0, move the smooth white mug to the angled rack with long and short rods, hang the smooth white mug on the angled rack with long and short rods, and release the smooth white mug once it holds.", + "With the arm, grasp the mug with blue print by edge contact point 0, lift and transport the mug with blue print to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, then let go.", + "Use the arm to grab the mug with blue print by edge contact point 0, lift the mug with blue print, move over to the smooth dark gray rack, hang the mug with blue print on the smooth dark gray rack, and release the mug with blue print.", + "With the arm, reach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the mug for drinking liquids on the rack with two rods sticking out, then release the mug for drinking liquids.", + "Approach the mug for drinking liquids, take hold of the mug for drinking liquids by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the mug for drinking liquids onto the medium rack with protruding rods, and let go.", + "Guide the arm to the cylindrical mug with curved handle, grip the cylindrical mug with curved handle by edge contact point 0, pick it up, move to the smooth rack, hang the cylindrical mug with curved handle on the smooth rack, and release.", + "Get to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the angular rack with slanted support rod, hang the printed white ceramic mug on the angular rack with slanted support rod, and release.", + "Guide the arm to the smooth white mug, grip the smooth white mug at edge contact point 0, lift the smooth white mug, align the smooth white mug with the smooth dark gray rack, hang the smooth white mug on the smooth dark gray rack, release the smooth white mug.", + "Move the arm toward the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the hand-sized mug with blue artwork onto the metallic rack with smooth finish to hang, then release.", + "Use the arm to grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move toward the rack with angular body, hang the medium mug with blue design on the rack with angular body, then release the medium mug with blue design.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift it from its spot, carry the hand-sized mug with blue artwork to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, then release the hand-sized mug with blue artwork.", + "Have the arm reach the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move to the angled rack with long and short rods, hang the white drinking mug with smooth surface on the angled rack with long and short rods, then open the grip.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the white drinking mug with smooth surface onto the angled rack with long and short rods so it hangs, then let go.", + "With the arm, take the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the medium rack with protruding rods, hook the mug with blue print onto the medium rack with protruding rods, then open the grip.", + "Hold the printed white ceramic mug using edge contact point 0, lift the printed white ceramic mug up, bring the printed white ceramic mug to the rack with angular body, hang the printed white ceramic mug on the rack with angular body, then release.", + "Take the white mug by edge contact point 0, lift the white mug up, move the white mug in front of the angular rack with slanted support rod, hang the white mug onto the angular rack with slanted support rod, then release the white mug.", + "Send the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift it, carry the medium mug with blue design to the metal rack, hang the medium mug with blue design on the metal rack, and release the medium mug with blue design.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, and release your grip.", + "Direct the arm to the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the metallic rack with smooth finish, hang the medium mug with blue design on the metallic rack with smooth finish, release the grip.", + "Grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, move it over to the medium rack with protruding rods, hook the white drinking mug with smooth surface onto the medium rack with protruding rods, and release the white drinking mug with smooth surface.", + "Grasp the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids from its spot, carry the mug for drinking liquids to the smooth rack, hang the mug for drinking liquids on the smooth rack, and release.", + "Move the arm toward the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface at edge contact point 0, lift the white drinking mug with smooth surface, carry the white drinking mug with smooth surface to the smooth dark gray rack, hang the white drinking mug with smooth surface on the smooth dark gray rack, release the white drinking mug with smooth surface.", + "Using the arm, secure the smooth white mug by edge contact point 0, lift, align the smooth white mug with the smooth rack, hang the smooth white mug on the smooth rack, and let go.", + "Direct the arm to grip the smooth white mug at edge contact point 0, pick the smooth white mug up, carry it to the rack with angular body, hang the smooth white mug on the rack with angular body, and release.", + "Grab the white mug with glossy finish at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the white mug with glossy finish onto the smooth dark gray rack, and release the white mug with glossy finish.", + "With the arm, take hold of the white ceramic mug with handle by edge contact point 0, pick it up, bring it to the rack with angular body, hang the white ceramic mug with handle on the rack with angular body, then release.", + "Hold the smooth white mug at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the smooth white mug onto the angled rack with long and short rods to hang, then let go.", + "Grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, bring the mug for drinking liquids to the rack with angular body, set the mug for drinking liquids onto the rack with angular body to hang, and release the mug for drinking liquids.", + "Grab the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, move it to the rack with angular body, hook the white ceramic mug with handle onto the rack with angular body, and release the white ceramic mug with handle.", + "Have the arm grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the rack with angular body, hang the printed white ceramic mug from the rack with angular body, then release.", + "Reach for the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, place the medium mug with blue design onto the metallic rack with smooth finish to hang, then release the medium mug with blue design." + ], + "unseen": [ + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release the mug shaped like a cylinder.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go of the mug shaped like a cylinder.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release the mug shaped like a cylinder.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go of the medium-sized white mug.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode41.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..8df2ce61506f0c641a6ef8c57df3cbdbb9318d49 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Reach the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, carry the white mug with rounded handle to the smooth dark gray rack, hang the white mug with rounded handle on the smooth dark gray rack, then release the white mug with rounded handle.", + "Grasp the basic mug in solid white at edge contact point 0, lift the basic mug in solid white from its spot, carry the basic mug in solid white to the metallic angular rack with rod pair, hang the basic mug in solid white on the metallic angular rack with rod pair, and release.", + "Move the arm to the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift, carry to the metal rack, hang the smooth and plain drinking mug on the metal rack, release the smooth and plain drinking mug.", + "Send the arm to the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift it, carry the glossy mug for beverages to the smooth rack, hang the glossy mug for beverages on the smooth rack, and release the glossy mug for beverages.", + "Get to the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, bring it to the metallic rack with smooth finish, hang the hand-sized ceramic mug on the metallic rack with smooth finish, and release.", + "Grab the plain glossy mug at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the plain glossy mug on the dark gray angled rack, then release the grip.", + "Grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring the medium-sized white mug to the metallic rack with smooth finish, set the medium-sized white mug onto the metallic rack with smooth finish to hang, and release the medium-sized white mug.", + "With the arm, reach the white mug, grasp the white mug by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the white mug on the rack with two rods sticking out, then release the white mug.", + "Direct the arm to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle clear, move to the rack with angular body, hang the medium white mug with handle on the rack with angular body, release the grip.", + "Grab the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, move it to the metal rack, hook the glossy mug for beverages onto the metal rack, and release the glossy mug for beverages.", + "Grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle up, move the medium white mug with handle to the angled rack with long and short rods, hang the medium white mug with handle on the angled rack with long and short rods, and let go of the medium white mug with handle.", + "Hold the medium-sized white mug using edge contact point 0, lift the medium-sized white mug up, bring the medium-sized white mug to the rack with angular body, hang the medium-sized white mug on the rack with angular body, then release.", + "With the arm, approach the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, bring it to the metallic rack with smooth finish, hang the cylindrical mug made of ceramic on the metallic rack with smooth finish, then let go.", + "Bring the arm to the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift it, move to the metal rack, hang the hand-sized ceramic mug on the metal rack, then let go.", + "Take the white mug by edge contact point 0, lift it off the surface, move it to the smooth rack, hang the white mug on the smooth rack, and release your grip.", + "Reach for the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug clear, place the smooth and plain drinking mug onto the smooth dark gray rack to hang, then release the smooth and plain drinking mug.", + "Grab the smooth white mug with curved handle at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the smooth white mug with curved handle onto the metallic angular rack with rod pair, and release the smooth white mug with curved handle.", + "Guide the arm to the glossy mug for beverages, grip the glossy mug for beverages by edge contact point 0, pick it up, move to the metal rack, hang the glossy mug for beverages on the metal rack, and release.", + "Using the arm, secure the basic mug in solid white by edge contact point 0, lift, align the basic mug in solid white with the metallic angular rack with rod pair, hang the basic mug in solid white on the metallic angular rack with rod pair, and let go.", + "Hold the white mug with rounded handle at edge contact point 0, lift it up, move toward the dark gray angled rack, place the white mug with rounded handle onto the dark gray angled rack to hang, then let go.", + "Go to the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift it clear, align it with the dark gray rack, hang the white mug with rounded handle on the dark gray rack, and let go.", + "With the arm, take hold of the white mug by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, then release.", + "Take the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug up, move the smooth and plain drinking mug in front of the metallic angular rack with rod pair, hang the smooth and plain drinking mug onto the metallic angular rack with rod pair, then release the smooth and plain drinking mug.", + "Using the arm, take the medium-sized white mug at edge contact point 0, raise the medium-sized white mug, move to the metallic angular rack with rod pair, hook the medium-sized white mug onto the metallic angular rack with rod pair, and release the medium-sized white mug.", + "Move the arm toward the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the white mug with rounded handle onto the metallic rack with smooth finish to hang, then release.", + "Use the arm to grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle, move toward the rack with two rods sticking out, hang the medium white mug with handle on the rack with two rods sticking out, then release the medium white mug with handle.", + "With the arm, grasp the smooth and plain drinking mug by edge contact point 0, lift and transport the smooth and plain drinking mug to the dark gray angled rack, hang the smooth and plain drinking mug on the dark gray angled rack, then let go.", + "Have the arm grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug, bring it to the dark gray angled rack, hang the plain glossy mug from the dark gray angled rack, then release.", + "Have the arm reach the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, move to the metal rack, hang the hand-sized ceramic mug on the metal rack, then open the grip.", + "Approach the medium white mug with handle, take hold of the medium white mug with handle by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the medium white mug with handle onto the angular rack with slanted support rod, and let go.", + "Guide the arm to the glossy mug for beverages, grip the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, align the glossy mug for beverages with the smooth dark gray rack, hang the glossy mug for beverages on the smooth dark gray rack, release the glossy mug for beverages.", + "Take the glossy mug for beverages by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the glossy mug for beverages onto the metallic angular rack with rod pair so it hangs, then let go.", + "Grab the basic mug in solid white at edge contact point 0, raise it, guide it to the metal rack, set the basic mug in solid white onto the metal rack so it hangs, then release the basic mug in solid white.", + "Use the arm to grab the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, move over to the smooth dark gray rack, hang the white mug with rounded handle on the smooth dark gray rack, and release the white mug with rounded handle.", + "Grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, move it over to the metallic angular rack with rod pair, hook the medium-sized white mug onto the metallic angular rack with rod pair, and release the medium-sized white mug.", + "Move the arm toward the glossy mug for beverages, grasp the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, carry the glossy mug for beverages to the angular rack with slanted support rod, hang the glossy mug for beverages on the angular rack with slanted support rod, release the glossy mug for beverages.", + "With the arm, take the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug clear, move to the dark gray angled rack, hook the smooth and plain drinking mug onto the dark gray angled rack, then open the grip.", + "Direct the arm to grip the white mug with rounded handle at edge contact point 0, pick the white mug with rounded handle up, carry it to the metal rack, hang the white mug with rounded handle on the metal rack, and release.", + "Take the cylindrical mug made of ceramic by edge contact point 0, lift it from its spot, carry the cylindrical mug made of ceramic to the angled rack with long and short rods, hang the cylindrical mug made of ceramic on the angled rack with long and short rods, then release the cylindrical mug made of ceramic.", + "Pick up the medium white mug with handle by edge contact point 0, move the medium white mug with handle to the metallic angular rack with rod pair, hang the medium white mug with handle on the metallic angular rack with rod pair, and release the medium white mug with handle once it holds.", + "Reach the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, carry the cylindrical mug made of ceramic to the metallic angular rack with rod pair, hang the cylindrical mug made of ceramic on the metallic angular rack with rod pair, then release the cylindrical mug made of ceramic.", + "Grasp the smooth and plain drinking mug at edge contact point 0, lift the smooth and plain drinking mug from its spot, carry the smooth and plain drinking mug to the smooth dark gray rack, hang the smooth and plain drinking mug on the smooth dark gray rack, and release.", + "Move the arm to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the medium white mug with handle on the medium rack with protruding rods, release the medium white mug with handle.", + "Send the arm to the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift it, carry the cylindrical mug made of ceramic to the rack with angular body, hang the cylindrical mug made of ceramic on the rack with angular body, and release the cylindrical mug made of ceramic.", + "Get to the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, bring it to the medium rack with protruding rods, hang the white mug with rounded handle on the medium rack with protruding rods, and release.", + "Grab the medium white mug with handle at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the medium white mug with handle on the angled rack with long and short rods, then release the grip.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring the ceramic mug to the rack with two rods sticking out, set the ceramic mug onto the rack with two rods sticking out to hang, and release the ceramic mug.", + "With the arm, reach the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift, align it to the metal rack, hang the medium white mug with handle on the metal rack, then release the medium white mug with handle.", + "Direct the arm to the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug clear, move to the angled rack with long and short rods, hang the plain glossy mug on the angled rack with long and short rods, release the grip.", + "Grab the medium-sized white mug at edge contact point 0, lift the medium-sized white mug, move it to the metal rack, hook the medium-sized white mug onto the metal rack, and release the medium-sized white mug.", + "Grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages up, move the glossy mug for beverages to the metallic rack with smooth finish, hang the glossy mug for beverages on the metallic rack with smooth finish, and let go of the glossy mug for beverages.", + "Hold the basic mug in solid white using edge contact point 0, lift the basic mug in solid white up, bring the basic mug in solid white to the rack with two rods sticking out, hang the basic mug in solid white on the rack with two rods sticking out, then release.", + "With the arm, approach the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, bring it to the smooth dark gray rack, hang the smooth white mug with curved handle on the smooth dark gray rack, then let go.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, then let go.", + "Take the medium white mug with handle by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the medium white mug with handle on the metallic angular rack with rod pair, and release your grip.", + "Reach for the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle clear, place the medium white mug with handle onto the angled rack with long and short rods to hang, then release the medium white mug with handle.", + "Grab the glossy mug for beverages at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the glossy mug for beverages onto the smooth dark gray rack, and release the glossy mug for beverages.", + "Guide the arm to the white mug, grip the white mug by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, and release.", + "Using the arm, secure the medium white mug with handle by edge contact point 0, lift, align the medium white mug with handle with the metal rack, hang the medium white mug with handle on the metal rack, and let go.", + "Hold the basic mug in solid white at edge contact point 0, lift it up, move toward the angular rack with slanted support rod, place the basic mug in solid white onto the angular rack with slanted support rod to hang, then let go.", + "Go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it clear, align it with the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, and let go.", + "With the arm, take hold of the white mug with rounded handle by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the white mug with rounded handle on the dark gray angled rack, then release.", + "Take the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug up, move the hand-sized ceramic mug in front of the dark gray angled rack, hang the hand-sized ceramic mug onto the dark gray angled rack, then release the hand-sized ceramic mug.", + "Using the arm, take the basic mug in solid white at edge contact point 0, raise the basic mug in solid white, move to the metal rack, hook the basic mug in solid white onto the metal rack, and release the basic mug in solid white.", + "Move the arm toward the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift it, travel to the smooth rack, place the plain glossy mug onto the smooth rack to hang, then release.", + "Use the arm to grasp the white mug by edge contact point 0, lift the white mug, move toward the angled rack with long and short rods, hang the white mug on the angled rack with long and short rods, then release the white mug.", + "With the arm, grasp the basic mug in solid white by edge contact point 0, lift and transport the basic mug in solid white to the smooth rack, hang the basic mug in solid white on the smooth rack, then let go.", + "Have the arm grasp the basic mug in solid white by edge contact point 0, lift the basic mug in solid white, bring it to the rack with two rods sticking out, hang the basic mug in solid white from the rack with two rods sticking out, then release.", + "Have the arm reach the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, move to the dark gray rack, hang the hand-sized ceramic mug on the dark gray rack, then open the grip.", + "Approach the cylindrical mug made of ceramic, take hold of the cylindrical mug made of ceramic by edge contact point 0, raise it, bring it to the metal rack, hook the cylindrical mug made of ceramic onto the metal rack, and let go.", + "Guide the arm to the basic mug in solid white, grip the basic mug in solid white at edge contact point 0, lift the basic mug in solid white, align the basic mug in solid white with the metallic angular rack with rod pair, hang the basic mug in solid white on the metallic angular rack with rod pair, release the basic mug in solid white.", + "Take the glossy mug for beverages by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the glossy mug for beverages onto the metallic angular rack with rod pair so it hangs, then let go.", + "Grab the medium white mug with handle at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the medium white mug with handle onto the smooth dark gray rack so it hangs, then release the medium white mug with handle.", + "Use the arm to grab the basic mug in solid white by edge contact point 0, lift the basic mug in solid white, move over to the rack with two rods sticking out, hang the basic mug in solid white on the rack with two rods sticking out, and release the basic mug in solid white.", + "Grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, move it over to the rack with angular body, hook the white mug with rounded handle onto the rack with angular body, and release the white mug with rounded handle.", + "Move the arm toward the smooth white mug with curved handle, grasp the smooth white mug with curved handle at edge contact point 0, lift the smooth white mug with curved handle, carry the smooth white mug with curved handle to the angular rack with slanted support rod, hang the smooth white mug with curved handle on the angular rack with slanted support rod, release the smooth white mug with curved handle.", + "With the arm, take the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle clear, move to the dark gray rack, hook the smooth white mug with curved handle onto the dark gray rack, then open the grip.", + "Direct the arm to grip the cylindrical mug made of ceramic at edge contact point 0, pick the cylindrical mug made of ceramic up, carry it to the dark gray angled rack, hang the cylindrical mug made of ceramic on the dark gray angled rack, and release.", + "Take the cylindrical mug made of ceramic by edge contact point 0, lift it from its spot, carry the cylindrical mug made of ceramic to the medium rack with protruding rods, hang the cylindrical mug made of ceramic on the medium rack with protruding rods, then release the cylindrical mug made of ceramic.", + "Pick up the smooth and plain drinking mug by edge contact point 0, move the smooth and plain drinking mug to the metallic rack with smooth finish, hang the smooth and plain drinking mug on the metallic rack with smooth finish, and release the smooth and plain drinking mug once it holds.", + "Reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, carry the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, then release the ceramic mug.", + "Grasp the medium-sized white mug at edge contact point 0, lift the medium-sized white mug from its spot, carry the medium-sized white mug to the medium rack with protruding rods, hang the medium-sized white mug on the medium rack with protruding rods, and release.", + "Move the arm to the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the plain glossy mug on the angular rack with slanted support rod, release the plain glossy mug.", + "Send the arm to the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift it, carry the smooth white mug with curved handle to the dark gray angled rack, hang the smooth white mug with curved handle on the dark gray angled rack, and release the smooth white mug with curved handle.", + "Get to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and release.", + "Grab the medium white mug with handle at edge contact point 0, lift it, bring it to the dark gray rack, hang the medium white mug with handle on the dark gray rack, then release the grip.", + "Grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages, bring the glossy mug for beverages to the dark gray rack, set the glossy mug for beverages onto the dark gray rack to hang, and release the glossy mug for beverages.", + "With the arm, reach the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift, align it to the dark gray angled rack, hang the plain glossy mug on the dark gray angled rack, then release the plain glossy mug.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the dark gray rack, hang the ceramic mug on the dark gray rack, release the grip.", + "Grab the basic mug in solid white at edge contact point 0, lift the basic mug in solid white, move it to the rack with angular body, hook the basic mug in solid white onto the rack with angular body, and release the basic mug in solid white.", + "Grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle up, move the white mug with rounded handle to the dark gray angled rack, hang the white mug with rounded handle on the dark gray angled rack, and let go of the white mug with rounded handle.", + "Hold the plain glossy mug using edge contact point 0, lift the plain glossy mug up, bring the plain glossy mug to the rack with two rods sticking out, hang the plain glossy mug on the rack with two rods sticking out, then release.", + "With the arm, approach the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug, bring it to the metal rack, hang the smooth and plain drinking mug on the metal rack, then let go.", + "Bring the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, move to the smooth rack, hang the medium-sized white mug on the smooth rack, then let go.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, and release your grip.", + "Reach for the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle clear, place the smooth white mug with curved handle onto the angled rack with long and short rods to hang, then release the smooth white mug with curved handle.", + "Grab the white mug with rounded handle at edge contact point 0, pick it up, move it over to the metal rack, hang the white mug with rounded handle onto the metal rack, and release the white mug with rounded handle.", + "Guide the arm to the white mug with rounded handle, grip the white mug with rounded handle by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the white mug with rounded handle on the smooth dark gray rack, and release.", + "Using the arm, secure the smooth white mug with curved handle by edge contact point 0, lift, align the smooth white mug with curved handle with the rack with two rods sticking out, hang the smooth white mug with curved handle on the rack with two rods sticking out, and let go.", + "Hold the medium white mug with handle at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the medium white mug with handle onto the smooth dark gray rack to hang, then let go." + ], + "unseen": [ + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then let go.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go of the medium mug for hot drinks.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release the white coffee mug.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release the medium mug for hot drinks.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go of the white coffee mug.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release the simple white cylindrical mug.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the white coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go of the medium mug for hot drinks.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go of the simple white cylindrical mug.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release the medium mug for hot drinks.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the simple white cylindrical mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go of the medium mug for hot drinks.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go of the white coffee mug.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the white coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release the medium mug for hot drinks.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go of the medium mug for hot drinks.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release the white coffee mug.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode42.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..04a0ef2581c9aeb107f5c7bc525df0d244f0fbe6 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Approach the hand-sized ceramic cylindrical mug, take hold of the hand-sized ceramic cylindrical mug by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the hand-sized ceramic cylindrical mug onto the metallic angular rack with rod pair, and let go.", + "With the arm, approach the ceramic mug smooth beige surface, grasp the ceramic mug smooth beige surface by edge contact point 0, lift the ceramic mug smooth beige surface, bring it to the rack with two rods sticking out, hang the ceramic mug smooth beige surface on the rack with two rods sticking out, then let go.", + "Get to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with angular body, hang the ceramic mug on the rack with angular body, and release.", + "Send the arm to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it, carry the mug with rounded handle to the metallic angular rack with rod pair, hang the mug with rounded handle on the metallic angular rack with rod pair, and release the mug with rounded handle.", + "With the arm, reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, align it to the rack with angular body, hang the ceramic mug on the rack with angular body, then release the ceramic mug.", + "With the arm, take hold of the beige mug handle on side by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the beige mug handle on side on the metallic angular rack with rod pair, then release.", + "Take the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug up, move the light beige ceramic drinking mug in front of the metallic angular rack with rod pair, hang the light beige ceramic drinking mug onto the metallic angular rack with rod pair, then release the light beige ceramic drinking mug.", + "Bring the arm to the hand-sized ceramic cylindrical mug, grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the hand-sized ceramic cylindrical mug on the angular rack with slanted support rod, then let go.", + "Guide the arm to the beige ceramic mug, grip the beige ceramic mug by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the beige ceramic mug on the angular rack with slanted support rod, and release.", + "Use the arm to grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug, move toward the smooth rack, hang the hand-sized ceramic cylindrical mug on the smooth rack, then release the hand-sized ceramic cylindrical mug.", + "Have the arm grasp the beige mug handle on side by edge contact point 0, lift the beige mug handle on side, bring it to the metal rack, hang the beige mug handle on side from the metal rack, then release.", + "Move the arm toward the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the ceramic mug onto the rack with two rods sticking out to hang, then release.", + "Grasp the ceramic mug smooth beige surface at edge contact point 0, lift the ceramic mug smooth beige surface from its spot, carry the ceramic mug smooth beige surface to the smooth rack, hang the ceramic mug smooth beige surface on the smooth rack, and release.", + "Hold the light beige drinking mug at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the light beige drinking mug onto the metallic rack with smooth finish to hang, then let go.", + "Take the light beige ceramic drinking mug by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the light beige ceramic drinking mug on the dark gray rack, and release your grip.", + "Grab the hand-sized ceramic cylindrical mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the hand-sized ceramic cylindrical mug onto the rack with two rods sticking out, and release the hand-sized ceramic cylindrical mug.", + "Move the arm toward the hand-sized ceramic cylindrical mug, grasp the hand-sized ceramic cylindrical mug at edge contact point 0, lift the hand-sized ceramic cylindrical mug, carry the hand-sized ceramic cylindrical mug to the metallic angular rack with rod pair, hang the hand-sized ceramic cylindrical mug on the metallic angular rack with rod pair, release the hand-sized ceramic cylindrical mug.", + "Grab the mug with rounded handle at edge contact point 0, lift the mug with rounded handle, move it to the metal rack, hook the mug with rounded handle onto the metal rack, and release the mug with rounded handle.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the smooth rack, hang the ceramic mug on the smooth rack, and release the ceramic mug once it holds.", + "Using the arm, secure the light beige ceramic drinking mug by edge contact point 0, lift, align the light beige ceramic drinking mug with the rack with two rods sticking out, hang the light beige ceramic drinking mug on the rack with two rods sticking out, and let go.", + "Hold the beige mug handle on side using edge contact point 0, lift the beige mug handle on side up, bring the beige mug handle on side to the dark gray angled rack, hang the beige mug handle on side on the dark gray angled rack, then release.", + "Grab the hand-sized ceramic cylindrical mug at edge contact point 0, lift it, bring it to the rack with angular body, hang the hand-sized ceramic cylindrical mug on the rack with angular body, then release the grip.", + "Use the arm to grab the light beige drinking mug by edge contact point 0, lift the light beige drinking mug, move over to the dark gray rack, hang the light beige drinking mug on the dark gray rack, and release the light beige drinking mug.", + "Reach the hand-sized ceramic cylindrical mug, grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug, carry the hand-sized ceramic cylindrical mug to the metallic angular rack with rod pair, hang the hand-sized ceramic cylindrical mug on the metallic angular rack with rod pair, then release the hand-sized ceramic cylindrical mug.", + "Take the medium mug with smooth texture by edge contact point 0, lift it from its spot, carry the medium mug with smooth texture to the rack with angular body, hang the medium mug with smooth texture on the rack with angular body, then release the medium mug with smooth texture.", + "Take the light beige ceramic drinking mug by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the light beige ceramic drinking mug onto the dark gray angled rack so it hangs, then let go.", + "Guide the arm to the light beige ceramic drinking mug, grip the light beige ceramic drinking mug at edge contact point 0, lift the light beige ceramic drinking mug, align the light beige ceramic drinking mug with the metallic angular rack with rod pair, hang the light beige ceramic drinking mug on the metallic angular rack with rod pair, release the light beige ceramic drinking mug.", + "Go to the beige ceramic mug, grasp the beige ceramic mug by edge contact point 0, lift it clear, align it with the metal rack, hang the beige ceramic mug on the metal rack, and let go.", + "Using the arm, take the beige mug polished ceramic build at edge contact point 0, raise the beige mug polished ceramic build, move to the rack with angular body, hook the beige mug polished ceramic build onto the rack with angular body, and release the beige mug polished ceramic build.", + "With the arm, grasp the beige ceramic mug by edge contact point 0, lift and transport the beige ceramic mug to the metallic rack with smooth finish, hang the beige ceramic mug on the metallic rack with smooth finish, then let go.", + "Grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, bring the mug with rounded handle to the medium rack with protruding rods, set the mug with rounded handle onto the medium rack with protruding rods to hang, and release the mug with rounded handle.", + "Have the arm reach the light beige drinking mug, grasp the light beige drinking mug by edge contact point 0, lift the light beige drinking mug, move to the medium rack with protruding rods, hang the light beige drinking mug on the medium rack with protruding rods, then open the grip.", + "With the arm, take the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug clear, move to the metal rack, hook the light beige ceramic drinking mug onto the metal rack, then open the grip.", + "Grab the beige mug polished ceramic build at edge contact point 0, raise it, guide it to the rack with angular body, set the beige mug polished ceramic build onto the rack with angular body so it hangs, then release the beige mug polished ceramic build.", + "Grasp the ceramic mug smooth beige surface by edge contact point 0, lift the ceramic mug smooth beige surface, move it over to the medium rack with protruding rods, hook the ceramic mug smooth beige surface onto the medium rack with protruding rods, and release the ceramic mug smooth beige surface.", + "Reach for the smooth ceramic beige mug, grasp the smooth ceramic beige mug by edge contact point 0, lift the smooth ceramic beige mug clear, place the smooth ceramic beige mug onto the medium rack with protruding rods to hang, then release the smooth ceramic beige mug.", + "Direct the arm to grip the medium mug with smooth texture at edge contact point 0, pick the medium mug with smooth texture up, carry it to the metallic rack with smooth finish, hang the medium mug with smooth texture on the metallic rack with smooth finish, and release.", + "Move the arm to the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the medium mug with smooth texture on the medium rack with protruding rods, release the medium mug with smooth texture.", + "Direct the arm to the hand-sized ceramic cylindrical mug, grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug clear, move to the rack with two rods sticking out, hang the hand-sized ceramic cylindrical mug on the rack with two rods sticking out, release the grip.", + "Grasp the beige mug polished ceramic build by edge contact point 0, lift the beige mug polished ceramic build up, move the beige mug polished ceramic build to the dark gray angled rack, hang the beige mug polished ceramic build on the dark gray angled rack, and let go of the beige mug polished ceramic build.", + "Approach the light beige ceramic drinking mug, take hold of the light beige ceramic drinking mug by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the light beige ceramic drinking mug onto the rack with two rods sticking out, and let go.", + "With the arm, approach the ceramic mug smooth beige surface, grasp the ceramic mug smooth beige surface by edge contact point 0, lift the ceramic mug smooth beige surface, bring it to the dark gray angled rack, hang the ceramic mug smooth beige surface on the dark gray angled rack, then let go.", + "Get to the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift the medium mug with smooth texture, bring it to the metallic rack with smooth finish, hang the medium mug with smooth texture on the metallic rack with smooth finish, and release.", + "Send the arm to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it, carry the mug with rounded handle to the dark gray rack, hang the mug with rounded handle on the dark gray rack, and release the mug with rounded handle.", + "With the arm, reach the beige ceramic mug, grasp the beige ceramic mug by edge contact point 0, lift, align it to the dark gray rack, hang the beige ceramic mug on the dark gray rack, then release the beige ceramic mug.", + "With the arm, take hold of the ceramic mug smooth beige surface by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the ceramic mug smooth beige surface on the angled rack with long and short rods, then release.", + "Take the medium mug with smooth texture by edge contact point 0, lift the medium mug with smooth texture up, move the medium mug with smooth texture in front of the angular rack with slanted support rod, hang the medium mug with smooth texture onto the angular rack with slanted support rod, then release the medium mug with smooth texture.", + "Bring the arm to the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift it, move to the dark gray rack, hang the medium mug with smooth texture on the dark gray rack, then let go.", + "Guide the arm to the hand-sized ceramic cylindrical mug, grip the hand-sized ceramic cylindrical mug by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the hand-sized ceramic cylindrical mug on the metallic rack with smooth finish, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move toward the metal rack, hang the ceramic mug on the metal rack, then release the ceramic mug.", + "Have the arm grasp the medium mug with smooth texture by edge contact point 0, lift the medium mug with smooth texture, bring it to the angular rack with slanted support rod, hang the medium mug with smooth texture from the angular rack with slanted support rod, then release.", + "Move the arm toward the beige mug handle on side, grasp the beige mug handle on side by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the beige mug handle on side onto the rack with two rods sticking out to hang, then release.", + "Grasp the smooth ceramic beige mug at edge contact point 0, lift the smooth ceramic beige mug from its spot, carry the smooth ceramic beige mug to the metallic rack with smooth finish, hang the smooth ceramic beige mug on the metallic rack with smooth finish, and release.", + "Hold the medium beige mug at edge contact point 0, lift it up, move toward the dark gray rack, place the medium beige mug onto the dark gray rack to hang, then let go.", + "Take the light beige ceramic drinking mug by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the light beige ceramic drinking mug on the rack with angular body, and release your grip.", + "Grab the ceramic mug smooth beige surface at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the ceramic mug smooth beige surface onto the metallic rack with smooth finish, and release the ceramic mug smooth beige surface.", + "Move the arm toward the beige mug handle on side, grasp the beige mug handle on side at edge contact point 0, lift the beige mug handle on side, carry the beige mug handle on side to the angled rack with long and short rods, hang the beige mug handle on side on the angled rack with long and short rods, release the beige mug handle on side.", + "Grab the light beige ceramic drinking mug at edge contact point 0, lift the light beige ceramic drinking mug, move it to the angled rack with long and short rods, hook the light beige ceramic drinking mug onto the angled rack with long and short rods, and release the light beige ceramic drinking mug.", + "Pick up the beige ceramic mug by edge contact point 0, move the beige ceramic mug to the angular rack with slanted support rod, hang the beige ceramic mug on the angular rack with slanted support rod, and release the beige ceramic mug once it holds.", + "Using the arm, secure the medium mug with smooth texture by edge contact point 0, lift, align the medium mug with smooth texture with the dark gray rack, hang the medium mug with smooth texture on the dark gray rack, and let go.", + "Hold the hand-sized ceramic cylindrical mug using edge contact point 0, lift the hand-sized ceramic cylindrical mug up, bring the hand-sized ceramic cylindrical mug to the metallic rack with smooth finish, hang the hand-sized ceramic cylindrical mug on the metallic rack with smooth finish, then release.", + "Grab the medium beige mug at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the medium beige mug on the metallic angular rack with rod pair, then release the grip.", + "Use the arm to grab the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, move over to the smooth dark gray rack, hang the mug with rounded handle on the smooth dark gray rack, and release the mug with rounded handle.", + "Reach the light beige drinking mug, grasp the light beige drinking mug by edge contact point 0, lift the light beige drinking mug, carry the light beige drinking mug to the angled rack with long and short rods, hang the light beige drinking mug on the angled rack with long and short rods, then release the light beige drinking mug.", + "Take the light beige ceramic drinking mug by edge contact point 0, lift it from its spot, carry the light beige ceramic drinking mug to the medium rack with protruding rods, hang the light beige ceramic drinking mug on the medium rack with protruding rods, then release the light beige ceramic drinking mug.", + "Take the medium beige mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the medium beige mug onto the medium rack with protruding rods so it hangs, then let go.", + "Guide the arm to the ceramic mug smooth beige surface, grip the ceramic mug smooth beige surface at edge contact point 0, lift the ceramic mug smooth beige surface, align the ceramic mug smooth beige surface with the medium rack with protruding rods, hang the ceramic mug smooth beige surface on the medium rack with protruding rods, release the ceramic mug smooth beige surface.", + "Go to the beige mug polished ceramic build, grasp the beige mug polished ceramic build by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the beige mug polished ceramic build on the smooth dark gray rack, and let go.", + "Using the arm, take the ceramic mug at edge contact point 0, raise the ceramic mug, move to the dark gray angled rack, hook the ceramic mug onto the dark gray angled rack, and release the ceramic mug.", + "With the arm, grasp the medium beige mug by edge contact point 0, lift and transport the medium beige mug to the angular rack with slanted support rod, hang the medium beige mug on the angular rack with slanted support rod, then let go.", + "Grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring the medium beige mug to the angled rack with long and short rods, set the medium beige mug onto the angled rack with long and short rods to hang, and release the medium beige mug.", + "Have the arm reach the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, move to the dark gray rack, hang the medium beige mug on the dark gray rack, then open the grip.", + "With the arm, take the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the dark gray rack, hook the ceramic mug onto the dark gray rack, then open the grip.", + "Grab the light beige drinking mug at edge contact point 0, raise it, guide it to the smooth rack, set the light beige drinking mug onto the smooth rack so it hangs, then release the light beige drinking mug.", + "Grasp the beige mug polished ceramic build by edge contact point 0, lift the beige mug polished ceramic build, move it over to the angular rack with slanted support rod, hook the beige mug polished ceramic build onto the angular rack with slanted support rod, and release the beige mug polished ceramic build.", + "Reach for the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug clear, place the light beige ceramic drinking mug onto the medium rack with protruding rods to hang, then release the light beige ceramic drinking mug.", + "Direct the arm to grip the ceramic mug smooth beige surface at edge contact point 0, pick the ceramic mug smooth beige surface up, carry it to the metal rack, hang the ceramic mug smooth beige surface on the metal rack, and release.", + "Move the arm to the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift, carry to the dark gray rack, hang the medium mug with smooth texture on the dark gray rack, release the medium mug with smooth texture.", + "Direct the arm to the hand-sized ceramic cylindrical mug, grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug clear, move to the angular rack with slanted support rod, hang the hand-sized ceramic cylindrical mug on the angular rack with slanted support rod, release the grip.", + "Grasp the beige ceramic mug by edge contact point 0, lift the beige ceramic mug up, move the beige ceramic mug to the dark gray angled rack, hang the beige ceramic mug on the dark gray angled rack, and let go of the beige ceramic mug.", + "Approach the light beige ceramic drinking mug, take hold of the light beige ceramic drinking mug by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the light beige ceramic drinking mug onto the metallic angular rack with rod pair, and let go.", + "With the arm, approach the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift the medium mug with smooth texture, bring it to the medium rack with protruding rods, hang the medium mug with smooth texture on the medium rack with protruding rods, then let go.", + "Get to the beige mug handle on side, grasp the beige mug handle on side by edge contact point 0, lift the beige mug handle on side, bring it to the dark gray rack, hang the beige mug handle on side on the dark gray rack, and release.", + "Send the arm to the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift it, carry the light beige ceramic drinking mug to the angular rack with slanted support rod, hang the light beige ceramic drinking mug on the angular rack with slanted support rod, and release the light beige ceramic drinking mug.", + "With the arm, reach the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the medium mug with smooth texture on the angled rack with long and short rods, then release the medium mug with smooth texture.", + "With the arm, take hold of the light beige ceramic drinking mug by edge contact point 0, pick it up, bring it to the smooth rack, hang the light beige ceramic drinking mug on the smooth rack, then release.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the smooth rack, hang the ceramic mug onto the smooth rack, then release the ceramic mug.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, then let go.", + "Guide the arm to the hand-sized ceramic cylindrical mug, grip the hand-sized ceramic cylindrical mug by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the hand-sized ceramic cylindrical mug on the metallic angular rack with rod pair, and release.", + "Use the arm to grasp the medium beige mug by edge contact point 0, lift the medium beige mug, move toward the metal rack, hang the medium beige mug on the metal rack, then release the medium beige mug.", + "Have the arm grasp the beige ceramic mug by edge contact point 0, lift the beige ceramic mug, bring it to the angled rack with long and short rods, hang the beige ceramic mug from the angled rack with long and short rods, then release.", + "Move the arm toward the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift it, travel to the dark gray rack, place the light beige ceramic drinking mug onto the dark gray rack to hang, then release.", + "Grasp the ceramic mug smooth beige surface at edge contact point 0, lift the ceramic mug smooth beige surface from its spot, carry the ceramic mug smooth beige surface to the smooth dark gray rack, hang the ceramic mug smooth beige surface on the smooth dark gray rack, and release.", + "Hold the medium mug with smooth texture at edge contact point 0, lift it up, move toward the metal rack, place the medium mug with smooth texture onto the metal rack to hang, then let go.", + "Take the smooth ceramic beige mug by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the smooth ceramic beige mug on the metallic rack with smooth finish, and release your grip.", + "Grab the light beige ceramic drinking mug at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the light beige ceramic drinking mug onto the dark gray angled rack, and release the light beige ceramic drinking mug.", + "Move the arm toward the smooth ceramic beige mug, grasp the smooth ceramic beige mug at edge contact point 0, lift the smooth ceramic beige mug, carry the smooth ceramic beige mug to the smooth rack, hang the smooth ceramic beige mug on the smooth rack, release the smooth ceramic beige mug.", + "Grab the medium beige mug at edge contact point 0, lift the medium beige mug, move it to the metal rack, hook the medium beige mug onto the metal rack, and release the medium beige mug.", + "Pick up the ceramic mug by edge contact point 0, move the ceramic mug to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, and release the ceramic mug once it holds.", + "Using the arm, secure the hand-sized ceramic cylindrical mug by edge contact point 0, lift, align the hand-sized ceramic cylindrical mug with the smooth rack, hang the hand-sized ceramic cylindrical mug on the smooth rack, and let go." + ], + "unseen": [ + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go of the cylindrical mug with handle.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Grasp the mug beige smooth cylinder shape by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, then release.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and let go of the mug beige smooth cylinder shape.", + "Move the arm to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring the mug beige smooth cylinder shape to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release the mug beige smooth cylinder shape.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and let go.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, then let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and let go.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug beige smooth cylinder shape on the medium-sized rack, then let go.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Grasp the mug beige smooth cylinder shape by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, then let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go of the mug beige smooth cylinder shape.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go of the mug beige smooth cylinder shape.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release the cylindrical mug with handle.", + "Grasp the mug beige smooth cylinder shape by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Move the arm to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring the mug beige smooth cylinder shape to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release the mug beige smooth cylinder shape.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and let go.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Grasp the mug beige smooth cylinder shape by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Use the arm to grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, then let go.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and let go of the mug beige smooth cylinder shape.", + "Move the arm to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring the mug beige smooth cylinder shape to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, then release the mug beige smooth cylinder shape.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and let go.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode43.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..4a10b5d17dea47f0fe740c8b1a64ba8b658565e4 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Send the arm to the mug with side handle, grasp the mug with side handle by edge contact point 0, lift it, carry the mug with side handle to the smooth rack, hang the mug with side handle on the smooth rack, and release the mug with side handle.", + "Pick up the beige mug used for drinks by edge contact point 0, move the beige mug used for drinks to the medium rack with protruding rods, hang the beige mug used for drinks on the medium rack with protruding rods, and release the beige mug used for drinks once it holds.", + "Grab the mug with round handle at edge contact point 0, lift it, bring it to the dark gray rack, hang the mug with round handle on the dark gray rack, then release the grip.", + "Grasp the mug with side handle by edge contact point 0, lift the mug with side handle up, move the mug with side handle to the medium rack with protruding rods, hang the mug with side handle on the medium rack with protruding rods, and let go of the mug with side handle.", + "Have the arm grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, bring it to the metallic angular rack with rod pair, hang the beige mug used for drinks from the metallic angular rack with rod pair, then release.", + "Hold the mug with side handle at edge contact point 0, lift it up, move toward the smooth rack, place the mug with side handle onto the smooth rack to hang, then let go.", + "Bring the arm to the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the cylindrical coffee mug with handle on the metallic rack with smooth finish, then let go.", + "With the arm, grasp the smooth ceramic mug by edge contact point 0, lift and transport the smooth ceramic mug to the dark gray rack, hang the smooth ceramic mug on the dark gray rack, then let go.", + "Get to the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug, bring it to the angled rack with long and short rods, hang the glossy beige ceramic drinking mug on the angled rack with long and short rods, and release.", + "Move the arm toward the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the ceramic mug with printed logo onto the angular rack with slanted support rod to hang, then release.", + "Guide the arm to the mug with glossy beige finish, grip the mug with glossy beige finish at edge contact point 0, lift the mug with glossy beige finish, align the mug with glossy beige finish with the angular rack with slanted support rod, hang the mug with glossy beige finish on the angular rack with slanted support rod, release the mug with glossy beige finish.", + "Reach the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, carry the mug with rounded base to the angled rack with long and short rods, hang the mug with rounded base on the angled rack with long and short rods, then release the mug with rounded base.", + "Hold the cylindrical coffee mug with handle using edge contact point 0, lift the cylindrical coffee mug with handle up, bring the cylindrical coffee mug with handle to the metal rack, hang the cylindrical coffee mug with handle on the metal rack, then release.", + "With the arm, take the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle clear, move to the medium rack with protruding rods, hook the cylindrical coffee mug with handle onto the medium rack with protruding rods, then open the grip.", + "Use the arm to grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move over to the metallic angular rack with rod pair, hang the smooth ceramic mug on the metallic angular rack with rod pair, and release the smooth ceramic mug.", + "With the arm, approach the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug, bring it to the metallic rack with smooth finish, hang the glossy beige ceramic drinking mug on the metallic rack with smooth finish, then let go.", + "Grab the medium beige mug at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the medium beige mug onto the dark gray angled rack, and release the medium beige mug.", + "Approach the beige mug used for drinks, take hold of the beige mug used for drinks by edge contact point 0, raise it, bring it to the smooth dark gray rack, hook the beige mug used for drinks onto the smooth dark gray rack, and let go.", + "Take the mug with glossy beige finish by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the mug with glossy beige finish onto the angular rack with slanted support rod so it hangs, then let go.", + "Guide the arm to the mug with round handle, grip the mug with round handle by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the mug with round handle on the angular rack with slanted support rod, and release.", + "Grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move it over to the smooth rack, hook the cylindrical beige ceramic mug onto the smooth rack, and release the cylindrical beige ceramic mug.", + "Take the cylindrical coffee mug with handle by edge contact point 0, lift it off the surface, move it to the metallic angular rack with rod pair, hang the cylindrical coffee mug with handle on the metallic angular rack with rod pair, and release your grip.", + "With the arm, reach the mug with round handle, grasp the mug with round handle by edge contact point 0, lift, align it to the smooth rack, hang the mug with round handle on the smooth rack, then release the mug with round handle.", + "Move the arm to the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the glossy beige ceramic drinking mug on the medium rack with protruding rods, release the glossy beige ceramic drinking mug.", + "Direct the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side clear, move to the rack with angular body, hang the mug with logo design on side on the rack with angular body, release the grip.", + "Use the arm to grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, move toward the smooth rack, hang the mug with rounded base on the smooth rack, then release the mug with rounded base.", + "Go to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the cylindrical beige ceramic mug on the rack with two rods sticking out, and let go.", + "Grab the mug with rounded base at edge contact point 0, raise it, guide it to the metal rack, set the mug with rounded base onto the metal rack so it hangs, then release the mug with rounded base.", + "Grab the mug with logo design on side at edge contact point 0, lift the mug with logo design on side, move it to the metallic angular rack with rod pair, hook the mug with logo design on side onto the metallic angular rack with rod pair, and release the mug with logo design on side.", + "With the arm, take hold of the glossy beige ceramic drinking mug by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the glossy beige ceramic drinking mug on the metallic rack with smooth finish, then release.", + "Take the cylindrical coffee mug with handle by edge contact point 0, lift it from its spot, carry the cylindrical coffee mug with handle to the metal rack, hang the cylindrical coffee mug with handle on the metal rack, then release the cylindrical coffee mug with handle.", + "Move the arm toward the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug at edge contact point 0, lift the glossy beige ceramic drinking mug, carry the glossy beige ceramic drinking mug to the metallic angular rack with rod pair, hang the glossy beige ceramic drinking mug on the metallic angular rack with rod pair, release the glossy beige ceramic drinking mug.", + "Using the arm, take the medium beige mug at edge contact point 0, raise the medium beige mug, move to the rack with angular body, hook the medium beige mug onto the rack with angular body, and release the medium beige mug.", + "Reach for the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish clear, place the mug with glossy beige finish onto the angular rack with slanted support rod to hang, then release the mug with glossy beige finish.", + "Grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring the medium beige mug to the metallic rack with smooth finish, set the medium beige mug onto the metallic rack with smooth finish to hang, and release the medium beige mug.", + "Grasp the beige mug used for drinks at edge contact point 0, lift the beige mug used for drinks from its spot, carry the beige mug used for drinks to the rack with two rods sticking out, hang the beige mug used for drinks on the rack with two rods sticking out, and release.", + "Direct the arm to grip the medium beige mug at edge contact point 0, pick the medium beige mug up, carry it to the metal rack, hang the medium beige mug on the metal rack, and release.", + "Take the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug up, move the glossy beige ceramic drinking mug in front of the angled rack with long and short rods, hang the glossy beige ceramic drinking mug onto the angled rack with long and short rods, then release the glossy beige ceramic drinking mug.", + "Have the arm reach the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base, move to the metallic rack with smooth finish, hang the mug with rounded base on the metallic rack with smooth finish, then open the grip.", + "Using the arm, secure the mug with side handle by edge contact point 0, lift, align the mug with side handle with the medium rack with protruding rods, hang the mug with side handle on the medium rack with protruding rods, and let go.", + "Send the arm to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift it, carry the cylindrical beige ceramic mug to the smooth dark gray rack, hang the cylindrical beige ceramic mug on the smooth dark gray rack, and release the cylindrical beige ceramic mug.", + "Pick up the medium beige mug by edge contact point 0, move the medium beige mug to the metallic rack with smooth finish, hang the medium beige mug on the metallic rack with smooth finish, and release the medium beige mug once it holds.", + "Grab the cylindrical beige ceramic mug at edge contact point 0, lift it, bring it to the smooth rack, hang the cylindrical beige ceramic mug on the smooth rack, then release the grip.", + "Grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side up, move the mug with logo design on side to the angled rack with long and short rods, hang the mug with logo design on side on the angled rack with long and short rods, and let go of the mug with logo design on side.", + "Have the arm grasp the mug with side handle by edge contact point 0, lift the mug with side handle, bring it to the metal rack, hang the mug with side handle from the metal rack, then release.", + "Hold the cylindrical beige ceramic mug at edge contact point 0, lift it up, move toward the metallic angular rack with rod pair, place the cylindrical beige ceramic mug onto the metallic angular rack with rod pair to hang, then let go.", + "Bring the arm to the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift it, move to the dark gray rack, hang the beige mug used for drinks on the dark gray rack, then let go.", + "With the arm, grasp the mug with side handle by edge contact point 0, lift and transport the mug with side handle to the angular rack with slanted support rod, hang the mug with side handle on the angular rack with slanted support rod, then let go.", + "Get to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the metal rack, hang the smooth ceramic mug on the metal rack, and release.", + "Move the arm toward the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift it, travel to the metal rack, place the cylindrical coffee mug with handle onto the metal rack to hang, then release.", + "Guide the arm to the smooth ceramic mug, grip the smooth ceramic mug at edge contact point 0, lift the smooth ceramic mug, align the smooth ceramic mug with the angled rack with long and short rods, hang the smooth ceramic mug on the angled rack with long and short rods, release the smooth ceramic mug.", + "Reach the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, carry the mug with glossy beige finish to the smooth dark gray rack, hang the mug with glossy beige finish on the smooth dark gray rack, then release the mug with glossy beige finish.", + "Hold the cylindrical coffee mug with handle using edge contact point 0, lift the cylindrical coffee mug with handle up, bring the cylindrical coffee mug with handle to the dark gray angled rack, hang the cylindrical coffee mug with handle on the dark gray angled rack, then release.", + "With the arm, take the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug clear, move to the smooth rack, hook the glossy beige ceramic drinking mug onto the smooth rack, then open the grip.", + "Use the arm to grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move over to the dark gray angled rack, hang the smooth ceramic mug on the dark gray angled rack, and release the smooth ceramic mug.", + "With the arm, approach the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, bring it to the metallic rack with smooth finish, hang the beige mug used for drinks on the metallic rack with smooth finish, then let go.", + "Grab the smooth ceramic mug at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the smooth ceramic mug onto the smooth dark gray rack, and release the smooth ceramic mug.", + "Approach the beige mug used for drinks, take hold of the beige mug used for drinks by edge contact point 0, raise it, bring it to the metal rack, hook the beige mug used for drinks onto the metal rack, and let go.", + "Take the smooth ceramic mug by edge contact point 0, lift it, bring it over to the rack with angular body, place the smooth ceramic mug onto the rack with angular body so it hangs, then let go.", + "Guide the arm to the smooth ceramic mug, grip the smooth ceramic mug by edge contact point 0, pick it up, move to the rack with angular body, hang the smooth ceramic mug on the rack with angular body, and release.", + "Grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move it over to the dark gray rack, hook the smooth ceramic mug onto the dark gray rack, and release the smooth ceramic mug.", + "Take the mug with rounded base by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the mug with rounded base on the rack with angular body, and release your grip.", + "With the arm, reach the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the mug with logo design on side on the rack with two rods sticking out, then release the mug with logo design on side.", + "Move the arm to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift, carry to the smooth rack, hang the ceramic mug with printed logo on the smooth rack, release the ceramic mug with printed logo.", + "Direct the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side clear, move to the rack with two rods sticking out, hang the mug with logo design on side on the rack with two rods sticking out, release the grip.", + "Use the arm to grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, move toward the angled rack with long and short rods, hang the mug with glossy beige finish on the angled rack with long and short rods, then release the mug with glossy beige finish.", + "Go to the mug with side handle, grasp the mug with side handle by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the mug with side handle on the metallic angular rack with rod pair, and let go.", + "Grab the cylindrical beige ceramic mug at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the cylindrical beige ceramic mug onto the smooth dark gray rack so it hangs, then release the cylindrical beige ceramic mug.", + "Grab the mug with side handle at edge contact point 0, lift the mug with side handle, move it to the angular rack with slanted support rod, hook the mug with side handle onto the angular rack with slanted support rod, and release the mug with side handle.", + "With the arm, take hold of the ceramic mug with printed logo by edge contact point 0, pick it up, bring it to the dark gray rack, hang the ceramic mug with printed logo on the dark gray rack, then release.", + "Take the cylindrical beige ceramic mug by edge contact point 0, lift it from its spot, carry the cylindrical beige ceramic mug to the smooth rack, hang the cylindrical beige ceramic mug on the smooth rack, then release the cylindrical beige ceramic mug.", + "Move the arm toward the beige mug used for drinks, grasp the beige mug used for drinks at edge contact point 0, lift the beige mug used for drinks, carry the beige mug used for drinks to the medium rack with protruding rods, hang the beige mug used for drinks on the medium rack with protruding rods, release the beige mug used for drinks.", + "Using the arm, take the glossy beige ceramic drinking mug at edge contact point 0, raise the glossy beige ceramic drinking mug, move to the metallic angular rack with rod pair, hook the glossy beige ceramic drinking mug onto the metallic angular rack with rod pair, and release the glossy beige ceramic drinking mug.", + "Reach for the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug clear, place the medium beige mug onto the angled rack with long and short rods to hang, then release the medium beige mug.", + "Grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, bring the beige mug used for drinks to the rack with angular body, set the beige mug used for drinks onto the rack with angular body to hang, and release the beige mug used for drinks.", + "Grasp the cylindrical beige ceramic mug at edge contact point 0, lift the cylindrical beige ceramic mug from its spot, carry the cylindrical beige ceramic mug to the angled rack with long and short rods, hang the cylindrical beige ceramic mug on the angled rack with long and short rods, and release.", + "Direct the arm to grip the mug with side handle at edge contact point 0, pick the mug with side handle up, carry it to the smooth rack, hang the mug with side handle on the smooth rack, and release.", + "Take the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish up, move the mug with glossy beige finish in front of the smooth dark gray rack, hang the mug with glossy beige finish onto the smooth dark gray rack, then release the mug with glossy beige finish.", + "Have the arm reach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move to the angled rack with long and short rods, hang the smooth ceramic mug on the angled rack with long and short rods, then open the grip.", + "Using the arm, secure the mug with glossy beige finish by edge contact point 0, lift, align the mug with glossy beige finish with the metallic angular rack with rod pair, hang the mug with glossy beige finish on the metallic angular rack with rod pair, and let go.", + "Send the arm to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift it, carry the ceramic mug with printed logo to the angled rack with long and short rods, hang the ceramic mug with printed logo on the angled rack with long and short rods, and release the ceramic mug with printed logo.", + "Pick up the mug with rounded base by edge contact point 0, move the mug with rounded base to the metallic angular rack with rod pair, hang the mug with rounded base on the metallic angular rack with rod pair, and release the mug with rounded base once it holds.", + "Grab the mug with logo design on side at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the mug with logo design on side on the angular rack with slanted support rod, then release the grip.", + "Grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle up, move the cylindrical coffee mug with handle to the dark gray rack, hang the cylindrical coffee mug with handle on the dark gray rack, and let go of the cylindrical coffee mug with handle.", + "Have the arm grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, bring it to the rack with two rods sticking out, hang the ceramic mug with printed logo from the rack with two rods sticking out, then release.", + "Hold the beige mug used for drinks at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the beige mug used for drinks onto the medium rack with protruding rods to hang, then let go.", + "Bring the arm to the medium beige mug, grasp the medium beige mug by edge contact point 0, lift it, move to the dark gray angled rack, hang the medium beige mug on the dark gray angled rack, then let go.", + "With the arm, grasp the mug with side handle by edge contact point 0, lift and transport the mug with side handle to the rack with two rods sticking out, hang the mug with side handle on the rack with two rods sticking out, then let go.", + "Get to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo, bring it to the angular rack with slanted support rod, hang the ceramic mug with printed logo on the angular rack with slanted support rod, and release.", + "Move the arm toward the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, travel to the metal rack, place the smooth ceramic mug onto the metal rack to hang, then release.", + "Guide the arm to the beige mug used for drinks, grip the beige mug used for drinks at edge contact point 0, lift the beige mug used for drinks, align the beige mug used for drinks with the dark gray rack, hang the beige mug used for drinks on the dark gray rack, release the beige mug used for drinks.", + "Reach the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, carry the mug with glossy beige finish to the metallic angular rack with rod pair, hang the mug with glossy beige finish on the metallic angular rack with rod pair, then release the mug with glossy beige finish.", + "Hold the cylindrical beige ceramic mug using edge contact point 0, lift the cylindrical beige ceramic mug up, bring the cylindrical beige ceramic mug to the angled rack with long and short rods, hang the cylindrical beige ceramic mug on the angled rack with long and short rods, then release.", + "With the arm, take the medium beige mug by edge contact point 0, lift the medium beige mug clear, move to the rack with angular body, hook the medium beige mug onto the rack with angular body, then open the grip.", + "Use the arm to grab the mug with rounded base by edge contact point 0, lift the mug with rounded base, move over to the angular rack with slanted support rod, hang the mug with rounded base on the angular rack with slanted support rod, and release the mug with rounded base.", + "With the arm, approach the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring it to the smooth rack, hang the medium beige mug on the smooth rack, then let go.", + "Grab the mug with glossy beige finish at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the mug with glossy beige finish onto the metallic rack with smooth finish, and release the mug with glossy beige finish.", + "Approach the ceramic mug with printed logo, take hold of the ceramic mug with printed logo by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the ceramic mug with printed logo onto the angled rack with long and short rods, and let go.", + "Take the mug with side handle by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the mug with side handle onto the dark gray angled rack so it hangs, then let go.", + "Guide the arm to the glossy beige ceramic drinking mug, grip the glossy beige ceramic drinking mug by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the glossy beige ceramic drinking mug on the smooth dark gray rack, and release." + ], + "unseen": [ + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige mug on the medium-sized rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige mug on the medium-sized rack, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode44.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..f8384fec83a0e13a999fbc829f79458eb1a8d7d8 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Have the arm reach the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, move to the rack with angular body, hang the medium mug with handle on the rack with angular body, then open the grip.", + "Take the green drinking mug by edge contact point 0, lift it, bring it over to the metallic rack with smooth finish, place the green drinking mug onto the metallic rack with smooth finish so it hangs, then let go.", + "Reach the green drinking mug, grasp the green drinking mug by edge contact point 0, lift the green drinking mug, carry the green drinking mug to the smooth rack, hang the green drinking mug on the smooth rack, then release the green drinking mug.", + "With the arm, take the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug clear, move to the angled rack with long and short rods, hook the medium-sized smooth green Starbucks mug onto the angled rack with long and short rods, then open the grip.", + "Have the arm grasp the green mug by edge contact point 0, lift the green mug, bring it to the metallic rack with smooth finish, hang the green mug from the metallic rack with smooth finish, then release.", + "Take the green mug by edge contact point 0, lift it from its spot, carry the green mug to the rack with two rods sticking out, hang the green mug on the rack with two rods sticking out, then release the green mug.", + "Use the arm to grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, move toward the metallic angular rack with rod pair, hang the round mug with one handle on the metallic angular rack with rod pair, then release the round mug with one handle.", + "With the arm, take hold of the starbucks green mug by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the starbucks green mug on the dark gray angled rack, then release.", + "Go to the logo mug, grasp the logo mug by edge contact point 0, lift it clear, align it with the medium rack with protruding rods, hang the logo mug on the medium rack with protruding rods, and let go.", + "Reach for the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug clear, place the medium-sized smooth green Starbucks mug onto the rack with angular body to hang, then release the medium-sized smooth green Starbucks mug.", + "Move the arm to the logo mug, grasp the logo mug by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the logo mug on the metallic rack with smooth finish, release the logo mug.", + "Grab the logo mug at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the logo mug onto the metallic angular rack with rod pair so it hangs, then release the logo mug.", + "Grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, move it over to the rack with angular body, hook the smooth dark green mug onto the rack with angular body, and release the smooth dark green mug.", + "Take the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup up, move the dark green ceramic cup in front of the rack with angular body, hang the dark green ceramic cup onto the rack with angular body, then release the dark green ceramic cup.", + "Using the arm, take the green drinking mug at edge contact point 0, raise the green drinking mug, move to the smooth dark gray rack, hook the green drinking mug onto the smooth dark gray rack, and release the green drinking mug.", + "Hold the medium mug with handle using edge contact point 0, lift the medium mug with handle up, bring the medium mug with handle to the metallic rack with smooth finish, hang the medium mug with handle on the metallic rack with smooth finish, then release.", + "Grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug up, move the smooth dark green mug to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, and let go of the smooth dark green mug.", + "Direct the arm to grip the starbucks green mug at edge contact point 0, pick the starbucks green mug up, carry it to the smooth rack, hang the starbucks green mug on the smooth rack, and release.", + "Grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring the starbucks green mug to the metallic rack with smooth finish, set the starbucks green mug onto the metallic rack with smooth finish to hang, and release the starbucks green mug.", + "With the arm, approach the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring it to the rack with two rods sticking out, hang the starbucks green mug on the rack with two rods sticking out, then let go.", + "Use the arm to grab the smooth dark green mug by edge contact point 0, lift the smooth dark green mug, move over to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, and release the smooth dark green mug.", + "With the arm, grasp the green mug by edge contact point 0, lift and transport the green mug to the dark gray rack, hang the green mug on the dark gray rack, then let go.", + "Guide the arm to the medium mug with handle, grip the medium mug with handle at edge contact point 0, lift the medium mug with handle, align the medium mug with handle with the rack with angular body, hang the medium mug with handle on the rack with angular body, release the medium mug with handle.", + "Grab the logo mug at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the logo mug on the metallic rack with smooth finish, then release the grip.", + "Guide the arm to the green mug, grip the green mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the green mug on the rack with two rods sticking out, and release.", + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the ceramic mug onto the rack with two rods sticking out, and release the ceramic mug.", + "Grab the round mug with one handle at edge contact point 0, lift the round mug with one handle, move it to the rack with angular body, hook the round mug with one handle onto the rack with angular body, and release the round mug with one handle.", + "Move the arm toward the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the ceramic mug for hot drinks onto the rack with two rods sticking out to hang, then release.", + "With the arm, reach the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift, align it to the smooth rack, hang the ceramic mug for hot drinks on the smooth rack, then release the ceramic mug for hot drinks.", + "Grasp the ceramic mug at edge contact point 0, lift the ceramic mug from its spot, carry the ceramic mug to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and release.", + "Get to the green mug, grasp the green mug by edge contact point 0, lift the green mug, bring it to the metal rack, hang the green mug on the metal rack, and release.", + "Take the green drinking mug by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the green drinking mug on the smooth dark gray rack, and release your grip.", + "Pick up the ceramic mug for hot drinks by edge contact point 0, move the ceramic mug for hot drinks to the metal rack, hang the ceramic mug for hot drinks on the metal rack, and release the ceramic mug for hot drinks once it holds.", + "Using the arm, secure the green drinking mug by edge contact point 0, lift, align the green drinking mug with the smooth rack, hang the green drinking mug on the smooth rack, and let go.", + "Send the arm to the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift it, carry the dark green ceramic cup to the rack with angular body, hang the dark green ceramic cup on the rack with angular body, and release the dark green ceramic cup.", + "Bring the arm to the green drinking mug, grasp the green drinking mug by edge contact point 0, lift it, move to the angled rack with long and short rods, hang the green drinking mug on the angled rack with long and short rods, then let go.", + "Hold the round mug with one handle at edge contact point 0, lift it up, move toward the smooth rack, place the round mug with one handle onto the smooth rack to hang, then let go.", + "Direct the arm to the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle clear, move to the rack with angular body, hang the medium mug with handle on the rack with angular body, release the grip.", + "Approach the ceramic mug for hot drinks, take hold of the ceramic mug for hot drinks by edge contact point 0, raise it, bring it to the smooth dark gray rack, hook the ceramic mug for hot drinks onto the smooth dark gray rack, and let go.", + "Move the arm toward the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks at edge contact point 0, lift the ceramic mug for hot drinks, carry the ceramic mug for hot drinks to the angled rack with long and short rods, hang the ceramic mug for hot drinks on the angled rack with long and short rods, release the ceramic mug for hot drinks.", + "Have the arm reach the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move to the angled rack with long and short rods, hang the dark green ceramic cup on the angled rack with long and short rods, then open the grip.", + "Take the starbucks green mug by edge contact point 0, lift it, bring it over to the rack with angular body, place the starbucks green mug onto the rack with angular body so it hangs, then let go.", + "Reach the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, carry the starbucks green mug to the metallic rack with smooth finish, hang the starbucks green mug on the metallic rack with smooth finish, then release the starbucks green mug.", + "With the arm, take the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug clear, move to the angular rack with slanted support rod, hook the medium-sized smooth green Starbucks mug onto the angular rack with slanted support rod, then open the grip.", + "Have the arm grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, bring it to the metallic rack with smooth finish, hang the medium mug with handle from the metallic rack with smooth finish, then release.", + "Take the green mug by edge contact point 0, lift it from its spot, carry the green mug to the metallic rack with smooth finish, hang the green mug on the metallic rack with smooth finish, then release the green mug.", + "Use the arm to grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle, move toward the metallic angular rack with rod pair, hang the medium mug with handle on the metallic angular rack with rod pair, then release the medium mug with handle.", + "With the arm, take hold of the smooth dark green mug by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the smooth dark green mug on the metallic angular rack with rod pair, then release.", + "Go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it clear, align it with the rack with angular body, hang the ceramic mug on the rack with angular body, and let go.", + "Reach for the starbucks green mug, grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug clear, place the starbucks green mug onto the rack with angular body to hang, then release the starbucks green mug.", + "Move the arm to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift, carry to the rack with angular body, hang the medium-sized smooth green Starbucks mug on the rack with angular body, release the medium-sized smooth green Starbucks mug.", + "Grab the logo mug at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the logo mug onto the metallic angular rack with rod pair so it hangs, then release the logo mug.", + "Grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move it over to the rack with two rods sticking out, hook the dark green ceramic cup onto the rack with two rods sticking out, and release the dark green ceramic cup.", + "Take the smooth dark green mug by edge contact point 0, lift the smooth dark green mug up, move the smooth dark green mug in front of the angular rack with slanted support rod, hang the smooth dark green mug onto the angular rack with slanted support rod, then release the smooth dark green mug.", + "Using the arm, take the green mug at edge contact point 0, raise the green mug, move to the smooth rack, hook the green mug onto the smooth rack, and release the green mug.", + "Hold the logo mug using edge contact point 0, lift the logo mug up, bring the logo mug to the dark gray rack, hang the logo mug on the dark gray rack, then release.", + "Grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle up, move the round mug with one handle to the dark gray rack, hang the round mug with one handle on the dark gray rack, and let go of the round mug with one handle.", + "Direct the arm to grip the ceramic mug for hot drinks at edge contact point 0, pick the ceramic mug for hot drinks up, carry it to the dark gray angled rack, hang the ceramic mug for hot drinks on the dark gray angled rack, and release.", + "Grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, bring the Starbucks branded coffee mug to the metallic rack with smooth finish, set the Starbucks branded coffee mug onto the metallic rack with smooth finish to hang, and release the Starbucks branded coffee mug.", + "With the arm, approach the green mug, grasp the green mug by edge contact point 0, lift the green mug, bring it to the metallic angular rack with rod pair, hang the green mug on the metallic angular rack with rod pair, then let go.", + "Use the arm to grab the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, move over to the smooth rack, hang the ceramic mug for hot drinks on the smooth rack, and release the ceramic mug for hot drinks.", + "With the arm, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift and transport the medium-sized smooth green Starbucks mug to the smooth dark gray rack, hang the medium-sized smooth green Starbucks mug on the smooth dark gray rack, then let go.", + "Guide the arm to the green drinking mug, grip the green drinking mug at edge contact point 0, lift the green drinking mug, align the green drinking mug with the smooth dark gray rack, hang the green drinking mug on the smooth dark gray rack, release the green drinking mug.", + "Grab the medium-sized smooth green Starbucks mug at edge contact point 0, lift it, bring it to the metal rack, hang the medium-sized smooth green Starbucks mug on the metal rack, then release the grip.", + "Guide the arm to the ceramic mug, grip the ceramic mug by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the ceramic mug on the medium rack with protruding rods, and release.", + "Grab the green drinking mug at edge contact point 0, pick it up, move it over to the dark gray rack, hang the green drinking mug onto the dark gray rack, and release the green drinking mug.", + "Grab the green mug at edge contact point 0, lift the green mug, move it to the dark gray angled rack, hook the green mug onto the dark gray angled rack, and release the green mug.", + "Move the arm toward the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, travel to the dark gray rack, place the ceramic mug onto the dark gray rack to hang, then release.", + "With the arm, reach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift, align it to the smooth rack, hang the round mug with one handle on the smooth rack, then release the round mug with one handle.", + "Grasp the ceramic mug at edge contact point 0, lift the ceramic mug from its spot, carry the ceramic mug to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, and release.", + "Get to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, bring it to the angular rack with slanted support rod, hang the medium-sized smooth green Starbucks mug on the angular rack with slanted support rod, and release.", + "Take the green mug by edge contact point 0, lift it off the surface, move it to the dark gray angled rack, hang the green mug on the dark gray angled rack, and release your grip.", + "Pick up the dark green ceramic cup by edge contact point 0, move the dark green ceramic cup to the angular rack with slanted support rod, hang the dark green ceramic cup on the angular rack with slanted support rod, and release the dark green ceramic cup once it holds.", + "Using the arm, secure the medium-sized smooth green Starbucks mug by edge contact point 0, lift, align the medium-sized smooth green Starbucks mug with the metallic angular rack with rod pair, hang the medium-sized smooth green Starbucks mug on the metallic angular rack with rod pair, and let go.", + "Send the arm to the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift it, carry the medium mug with handle to the metallic rack with smooth finish, hang the medium mug with handle on the metallic rack with smooth finish, and release the medium mug with handle.", + "Bring the arm to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift it, move to the metal rack, hang the medium-sized smooth green Starbucks mug on the metal rack, then let go.", + "Hold the green drinking mug at edge contact point 0, lift it up, move toward the metallic angular rack with rod pair, place the green drinking mug onto the metallic angular rack with rod pair to hang, then let go.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, release the grip.", + "Approach the logo mug, take hold of the logo mug by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the logo mug onto the metallic angular rack with rod pair, and let go.", + "Move the arm toward the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks at edge contact point 0, lift the ceramic mug for hot drinks, carry the ceramic mug for hot drinks to the metallic angular rack with rod pair, hang the ceramic mug for hot drinks on the metallic angular rack with rod pair, release the ceramic mug for hot drinks.", + "Have the arm reach the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, move to the medium rack with protruding rods, hang the Starbucks branded coffee mug on the medium rack with protruding rods, then open the grip.", + "Take the medium-sized smooth green Starbucks mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the medium-sized smooth green Starbucks mug onto the medium rack with protruding rods so it hangs, then let go.", + "Reach the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug, carry the logo mug to the smooth rack, hang the logo mug on the smooth rack, then release the logo mug.", + "With the arm, take the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks clear, move to the rack with two rods sticking out, hook the ceramic mug for hot drinks onto the rack with two rods sticking out, then open the grip.", + "Have the arm grasp the green drinking mug by edge contact point 0, lift the green drinking mug, bring it to the metallic rack with smooth finish, hang the green drinking mug from the metallic rack with smooth finish, then release.", + "Take the green mug by edge contact point 0, lift it from its spot, carry the green mug to the dark gray rack, hang the green mug on the dark gray rack, then release the green mug.", + "Use the arm to grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, move toward the dark gray rack, hang the starbucks green mug on the dark gray rack, then release the starbucks green mug.", + "With the arm, take hold of the dark green ceramic cup by edge contact point 0, pick it up, bring it to the smooth rack, hang the dark green ceramic cup on the smooth rack, then release.", + "Go to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift it clear, align it with the rack with angular body, hang the round mug with one handle on the rack with angular body, and let go.", + "Reach for the logo mug, grasp the logo mug by edge contact point 0, lift the logo mug clear, place the logo mug onto the metallic rack with smooth finish to hang, then release the logo mug.", + "Move the arm to the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift, carry to the dark gray angled rack, hang the smooth dark green mug on the dark gray angled rack, release the smooth dark green mug.", + "Grab the green drinking mug at edge contact point 0, raise it, guide it to the smooth dark gray rack, set the green drinking mug onto the smooth dark gray rack so it hangs, then release the green drinking mug.", + "Grasp the logo mug by edge contact point 0, lift the logo mug, move it over to the rack with angular body, hook the logo mug onto the rack with angular body, and release the logo mug.", + "Take the logo mug by edge contact point 0, lift the logo mug up, move the logo mug in front of the dark gray angled rack, hang the logo mug onto the dark gray angled rack, then release the logo mug.", + "Using the arm, take the ceramic mug at edge contact point 0, raise the ceramic mug, move to the angular rack with slanted support rod, hook the ceramic mug onto the angular rack with slanted support rod, and release the ceramic mug.", + "Hold the logo mug using edge contact point 0, lift the logo mug up, bring the logo mug to the smooth dark gray rack, hang the logo mug on the smooth dark gray rack, then release.", + "Grasp the medium mug with handle by edge contact point 0, lift the medium mug with handle up, move the medium mug with handle to the metallic angular rack with rod pair, hang the medium mug with handle on the metallic angular rack with rod pair, and let go of the medium mug with handle.", + "Direct the arm to grip the ceramic mug for hot drinks at edge contact point 0, pick the ceramic mug for hot drinks up, carry it to the dark gray angled rack, hang the ceramic mug for hot drinks on the dark gray angled rack, and release.", + "Grasp the logo mug by edge contact point 0, lift the logo mug, bring the logo mug to the metallic angular rack with rod pair, set the logo mug onto the metallic angular rack with rod pair to hang, and release the logo mug.", + "With the arm, approach the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, bring it to the dark gray rack, hang the Starbucks branded coffee mug on the dark gray rack, then let go." + ], + "unseen": [ + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release the dark mug with a curved handle.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go of the cylindrical mug with Starbucks logo.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go of the cylindrical mug with Starbucks logo.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go of the dark mug with a curved handle.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go of the mug with white logo print.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and release.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and release.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go of the cylindrical mug with Starbucks logo.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode45.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..622ce1d12784ef932072b56a686c87326e44cf1c --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, bring the black mug for liquids to the dark gray rack, set the black mug for liquids onto the dark gray rack to hang, and release the black mug for liquids.", + "Direct the arm to grip the solid black ceramic mug at edge contact point 0, pick the solid black ceramic mug up, carry it to the dark gray angled rack, hang the solid black ceramic mug on the dark gray angled rack, and release.", + "Go to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift it clear, align it with the dark gray rack, hang the black mug with smooth surface on the dark gray rack, and let go.", + "Using the arm, take the black mug with smooth surface at edge contact point 0, raise the black mug with smooth surface, move to the metallic rack with smooth finish, hook the black mug with smooth surface onto the metallic rack with smooth finish, and release the black mug with smooth surface.", + "Grasp the mug with rounded handle at edge contact point 0, lift the mug with rounded handle from its spot, carry the mug with rounded handle to the rack with angular body, hang the mug with rounded handle on the rack with angular body, and release.", + "Grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface up, move the black mug with smooth surface to the rack with two rods sticking out, hang the black mug with smooth surface on the rack with two rods sticking out, and let go of the black mug with smooth surface.", + "Grab the hand-sized black mug at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the hand-sized black mug onto the metallic angular rack with rod pair, and release the hand-sized black mug.", + "Using the arm, secure the cylindrical black mug by edge contact point 0, lift, align the cylindrical black mug with the dark gray rack, hang the cylindrical black mug on the dark gray rack, and let go.", + "Grab the cylindrical black mug at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the cylindrical black mug onto the metallic angular rack with rod pair so it hangs, then release the cylindrical black mug.", + "Have the arm grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring it to the angular rack with slanted support rod, hang the hand-sized black mug from the angular rack with slanted support rod, then release.", + "With the arm, reach the drinking mug, grasp the drinking mug by edge contact point 0, lift, align it to the rack with angular body, hang the drinking mug on the rack with angular body, then release the drinking mug.", + "Use the arm to grab the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move over to the smooth rack, hang the hand-sized black mug on the smooth rack, and release the hand-sized black mug.", + "Have the arm reach the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, move to the rack with angular body, hang the black mug with smooth surface on the rack with angular body, then open the grip.", + "Move the arm toward the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the hand-sized black mug onto the angled rack with long and short rods to hang, then release.", + "Grab the hand-sized black mug at edge contact point 0, lift it, bring it to the metal rack, hang the hand-sized black mug on the metal rack, then release the grip.", + "With the arm, take hold of the mug with rounded handle by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, then release.", + "Use the arm to grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, move toward the angular rack with slanted support rod, hang the black mug for liquids on the angular rack with slanted support rod, then release the black mug for liquids.", + "Reach for the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle clear, place the mug with rounded handle onto the rack with two rods sticking out to hang, then release the mug with rounded handle.", + "Move the arm to the black coffee mug, grasp the black coffee mug by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the black coffee mug on the metallic angular rack with rod pair, release the black coffee mug.", + "Guide the arm to the mug with thick sturdy handle, grip the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, align the mug with thick sturdy handle with the rack with two rods sticking out, hang the mug with thick sturdy handle on the rack with two rods sticking out, release the mug with thick sturdy handle.", + "Direct the arm to the black mug, grasp the black mug by edge contact point 0, lift the black mug clear, move to the dark gray rack, hang the black mug on the dark gray rack, release the grip.", + "With the arm, approach the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, bring it to the smooth dark gray rack, hang the black mug with smooth surface on the smooth dark gray rack, then let go.", + "Hold the black coffee mug using edge contact point 0, lift the black coffee mug up, bring the black coffee mug to the rack with angular body, hang the black coffee mug on the rack with angular body, then release.", + "Take the black coffee mug by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the black coffee mug on the metallic rack with smooth finish, and release your grip.", + "Get to the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, bring it to the metallic angular rack with rod pair, hang the smooth black ceramic mug on the metallic angular rack with rod pair, and release.", + "Take the hand-sized black mug by edge contact point 0, lift it, bring it over to the medium rack with protruding rods, place the hand-sized black mug onto the medium rack with protruding rods so it hangs, then let go.", + "Move the arm toward the cylindrical black mug, grasp the cylindrical black mug at edge contact point 0, lift the cylindrical black mug, carry the cylindrical black mug to the metallic rack with smooth finish, hang the cylindrical black mug on the metallic rack with smooth finish, release the cylindrical black mug.", + "Take the cylindrical black mug by edge contact point 0, lift it from its spot, carry the cylindrical black mug to the metallic angular rack with rod pair, hang the cylindrical black mug on the metallic angular rack with rod pair, then release the cylindrical black mug.", + "Guide the arm to the black coffee mug, grip the black coffee mug by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the black coffee mug on the angular rack with slanted support rod, and release.", + "Hold the drinking mug at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the drinking mug onto the medium rack with protruding rods to hang, then let go.", + "Pick up the black mug with smooth surface by edge contact point 0, move the black mug with smooth surface to the rack with two rods sticking out, hang the black mug with smooth surface on the rack with two rods sticking out, and release the black mug with smooth surface once it holds.", + "Take the cylindrical black mug by edge contact point 0, lift the cylindrical black mug up, move the cylindrical black mug in front of the angular rack with slanted support rod, hang the cylindrical black mug onto the angular rack with slanted support rod, then release the cylindrical black mug.", + "Grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, move it over to the rack with angular body, hook the hand-sized black mug onto the rack with angular body, and release the hand-sized black mug.", + "Approach the black coffee mug, take hold of the black coffee mug by edge contact point 0, raise it, bring it to the rack with angular body, hook the black coffee mug onto the rack with angular body, and let go.", + "With the arm, take the black coffee mug by edge contact point 0, lift the black coffee mug clear, move to the angled rack with long and short rods, hook the black coffee mug onto the angled rack with long and short rods, then open the grip.", + "Send the arm to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift it, carry the cylindrical black mug to the rack with angular body, hang the cylindrical black mug on the rack with angular body, and release the cylindrical black mug.", + "Reach the black coffee mug, grasp the black coffee mug by edge contact point 0, lift the black coffee mug, carry the black coffee mug to the angular rack with slanted support rod, hang the black coffee mug on the angular rack with slanted support rod, then release the black coffee mug.", + "Grab the mug with thick sturdy handle at edge contact point 0, lift the mug with thick sturdy handle, move it to the smooth dark gray rack, hook the mug with thick sturdy handle onto the smooth dark gray rack, and release the mug with thick sturdy handle.", + "Bring the arm to the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the black mug for liquids on the metallic angular rack with rod pair, then let go.", + "With the arm, grasp the smooth black ceramic mug by edge contact point 0, lift and transport the smooth black ceramic mug to the dark gray rack, hang the smooth black ceramic mug on the dark gray rack, then let go.", + "Grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug, bring the hand-sized black mug to the metal rack, set the hand-sized black mug onto the metal rack to hang, and release the hand-sized black mug.", + "Direct the arm to grip the mug with rounded handle at edge contact point 0, pick the mug with rounded handle up, carry it to the angular rack with slanted support rod, hang the mug with rounded handle on the angular rack with slanted support rod, and release.", + "Go to the cylindrical black mug, grasp the cylindrical black mug by edge contact point 0, lift it clear, align it with the rack with angular body, hang the cylindrical black mug on the rack with angular body, and let go.", + "Using the arm, take the drinking mug at edge contact point 0, raise the drinking mug, move to the metallic rack with smooth finish, hook the drinking mug onto the metallic rack with smooth finish, and release the drinking mug.", + "Grasp the drinking mug at edge contact point 0, lift the drinking mug from its spot, carry the drinking mug to the dark gray angled rack, hang the drinking mug on the dark gray angled rack, and release.", + "Grasp the black coffee mug by edge contact point 0, lift the black coffee mug up, move the black coffee mug to the dark gray angled rack, hang the black coffee mug on the dark gray angled rack, and let go of the black coffee mug.", + "Grab the black mug with handle at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the black mug with handle onto the metallic rack with smooth finish, and release the black mug with handle.", + "Using the arm, secure the black mug by edge contact point 0, lift, align the black mug with the rack with angular body, hang the black mug on the rack with angular body, and let go.", + "Grab the solid black ceramic mug at edge contact point 0, raise it, guide it to the dark gray angled rack, set the solid black ceramic mug onto the dark gray angled rack so it hangs, then release the solid black ceramic mug.", + "Have the arm grasp the black mug with handle by edge contact point 0, lift the black mug with handle, bring it to the angled rack with long and short rods, hang the black mug with handle from the angled rack with long and short rods, then release.", + "With the arm, reach the hand-sized black mug, grasp the hand-sized black mug by edge contact point 0, lift, align it to the smooth rack, hang the hand-sized black mug on the smooth rack, then release the hand-sized black mug.", + "Use the arm to grab the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move over to the metal rack, hang the smooth black ceramic mug on the metal rack, and release the smooth black ceramic mug.", + "Have the arm reach the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, move to the metallic rack with smooth finish, hang the mug with thick sturdy handle on the metallic rack with smooth finish, then open the grip.", + "Move the arm toward the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift it, travel to the rack with angular body, place the smooth black ceramic mug onto the rack with angular body to hang, then release.", + "Grab the solid black ceramic mug at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the solid black ceramic mug on the rack with two rods sticking out, then release the grip.", + "With the arm, take hold of the hand-sized black mug by edge contact point 0, pick it up, bring it to the dark gray rack, hang the hand-sized black mug on the dark gray rack, then release.", + "Use the arm to grasp the black mug for liquids by edge contact point 0, lift the black mug for liquids, move toward the dark gray angled rack, hang the black mug for liquids on the dark gray angled rack, then release the black mug for liquids.", + "Reach for the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle clear, place the mug with thick sturdy handle onto the smooth rack to hang, then release the mug with thick sturdy handle.", + "Move the arm to the black mug with smooth surface, grasp the black mug with smooth surface by edge contact point 0, lift, carry to the dark gray rack, hang the black mug with smooth surface on the dark gray rack, release the black mug with smooth surface.", + "Guide the arm to the mug with rounded handle, grip the mug with rounded handle at edge contact point 0, lift the mug with rounded handle, align the mug with rounded handle with the metallic rack with smooth finish, hang the mug with rounded handle on the metallic rack with smooth finish, release the mug with rounded handle.", + "Direct the arm to the black mug with handle, grasp the black mug with handle by edge contact point 0, lift the black mug with handle clear, move to the smooth dark gray rack, hang the black mug with handle on the smooth dark gray rack, release the grip.", + "With the arm, approach the black mug with handle, grasp the black mug with handle by edge contact point 0, lift the black mug with handle, bring it to the dark gray rack, hang the black mug with handle on the dark gray rack, then let go.", + "Hold the cylindrical black mug using edge contact point 0, lift the cylindrical black mug up, bring the cylindrical black mug to the dark gray rack, hang the cylindrical black mug on the dark gray rack, then release.", + "Take the hand-sized black mug by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the hand-sized black mug on the rack with angular body, and release your grip.", + "Get to the black mug, grasp the black mug by edge contact point 0, lift the black mug, bring it to the rack with angular body, hang the black mug on the rack with angular body, and release.", + "Take the drinking mug by edge contact point 0, lift it, bring it over to the dark gray rack, place the drinking mug onto the dark gray rack so it hangs, then let go.", + "Move the arm toward the cylindrical black mug, grasp the cylindrical black mug at edge contact point 0, lift the cylindrical black mug, carry the cylindrical black mug to the dark gray rack, hang the cylindrical black mug on the dark gray rack, release the cylindrical black mug.", + "Take the smooth black ceramic mug by edge contact point 0, lift it from its spot, carry the smooth black ceramic mug to the medium rack with protruding rods, hang the smooth black ceramic mug on the medium rack with protruding rods, then release the smooth black ceramic mug.", + "Guide the arm to the solid black ceramic mug, grip the solid black ceramic mug by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the solid black ceramic mug on the smooth dark gray rack, and release.", + "Hold the black mug with smooth surface at edge contact point 0, lift it up, move toward the dark gray rack, place the black mug with smooth surface onto the dark gray rack to hang, then let go.", + "Pick up the mug with thick sturdy handle by edge contact point 0, move the mug with thick sturdy handle to the metallic angular rack with rod pair, hang the mug with thick sturdy handle on the metallic angular rack with rod pair, and release the mug with thick sturdy handle once it holds.", + "Take the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface up, move the black mug with smooth surface in front of the smooth dark gray rack, hang the black mug with smooth surface onto the smooth dark gray rack, then release the black mug with smooth surface.", + "Grasp the black mug with smooth surface by edge contact point 0, lift the black mug with smooth surface, move it over to the dark gray rack, hook the black mug with smooth surface onto the dark gray rack, and release the black mug with smooth surface.", + "Approach the black mug, take hold of the black mug by edge contact point 0, raise it, bring it to the medium rack with protruding rods, hook the black mug onto the medium rack with protruding rods, and let go.", + "With the arm, take the hand-sized black mug by edge contact point 0, lift the hand-sized black mug clear, move to the angular rack with slanted support rod, hook the hand-sized black mug onto the angular rack with slanted support rod, then open the grip.", + "Send the arm to the drinking mug, grasp the drinking mug by edge contact point 0, lift it, carry the drinking mug to the angled rack with long and short rods, hang the drinking mug on the angled rack with long and short rods, and release the drinking mug.", + "Reach the black mug, grasp the black mug by edge contact point 0, lift the black mug, carry the black mug to the smooth rack, hang the black mug on the smooth rack, then release the black mug.", + "Grab the smooth black ceramic mug at edge contact point 0, lift the smooth black ceramic mug, move it to the rack with angular body, hook the smooth black ceramic mug onto the rack with angular body, and release the smooth black ceramic mug.", + "Bring the arm to the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift it, move to the rack with angular body, hang the mug with thick sturdy handle on the rack with angular body, then let go.", + "With the arm, grasp the cylindrical black mug by edge contact point 0, lift and transport the cylindrical black mug to the metallic angular rack with rod pair, hang the cylindrical black mug on the metallic angular rack with rod pair, then let go.", + "Grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, bring the mug with rounded handle to the angled rack with long and short rods, set the mug with rounded handle onto the angled rack with long and short rods to hang, and release the mug with rounded handle.", + "Direct the arm to grip the black mug with smooth surface at edge contact point 0, pick the black mug with smooth surface up, carry it to the angled rack with long and short rods, hang the black mug with smooth surface on the angled rack with long and short rods, and release.", + "Go to the drinking mug, grasp the drinking mug by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the drinking mug on the smooth dark gray rack, and let go.", + "Using the arm, take the black mug for liquids at edge contact point 0, raise the black mug for liquids, move to the dark gray angled rack, hook the black mug for liquids onto the dark gray angled rack, and release the black mug for liquids.", + "Grasp the black mug for liquids at edge contact point 0, lift the black mug for liquids from its spot, carry the black mug for liquids to the dark gray angled rack, hang the black mug for liquids on the dark gray angled rack, and release.", + "Grasp the hand-sized black mug by edge contact point 0, lift the hand-sized black mug up, move the hand-sized black mug to the smooth rack, hang the hand-sized black mug on the smooth rack, and let go of the hand-sized black mug.", + "Grab the solid black ceramic mug at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the solid black ceramic mug onto the metallic angular rack with rod pair, and release the solid black ceramic mug.", + "Using the arm, secure the black mug for liquids by edge contact point 0, lift, align the black mug for liquids with the rack with angular body, hang the black mug for liquids on the rack with angular body, and let go.", + "Grab the black mug with smooth surface at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the black mug with smooth surface onto the medium rack with protruding rods so it hangs, then release the black mug with smooth surface.", + "Have the arm grasp the solid black ceramic mug by edge contact point 0, lift the solid black ceramic mug, bring it to the angled rack with long and short rods, hang the solid black ceramic mug from the angled rack with long and short rods, then release.", + "With the arm, reach the black mug with handle, grasp the black mug with handle by edge contact point 0, lift, align it to the smooth dark gray rack, hang the black mug with handle on the smooth dark gray rack, then release the black mug with handle.", + "Use the arm to grab the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle, move over to the medium rack with protruding rods, hang the mug with thick sturdy handle on the medium rack with protruding rods, and release the mug with thick sturdy handle.", + "Have the arm reach the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift the smooth black ceramic mug, move to the smooth rack, hang the smooth black ceramic mug on the smooth rack, then open the grip.", + "Move the arm toward the black mug for liquids, grasp the black mug for liquids by edge contact point 0, lift it, travel to the dark gray angled rack, place the black mug for liquids onto the dark gray angled rack to hang, then release.", + "Grab the black coffee mug at edge contact point 0, lift it, bring it to the metal rack, hang the black coffee mug on the metal rack, then release the grip.", + "With the arm, take hold of the black mug for liquids by edge contact point 0, pick it up, bring it to the metal rack, hang the black mug for liquids on the metal rack, then release.", + "Use the arm to grasp the black mug by edge contact point 0, lift the black mug, move toward the smooth rack, hang the black mug on the smooth rack, then release the black mug.", + "Reach for the mug with thick sturdy handle, grasp the mug with thick sturdy handle by edge contact point 0, lift the mug with thick sturdy handle clear, place the mug with thick sturdy handle onto the metallic rack with smooth finish to hang, then release the mug with thick sturdy handle.", + "Move the arm to the smooth black ceramic mug, grasp the smooth black ceramic mug by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the smooth black ceramic mug on the angular rack with slanted support rod, release the smooth black ceramic mug.", + "Guide the arm to the hand-sized black mug, grip the hand-sized black mug at edge contact point 0, lift the hand-sized black mug, align the hand-sized black mug with the rack with angular body, hang the hand-sized black mug on the rack with angular body, release the hand-sized black mug." + ], + "unseen": [ + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go of the medium black mug.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go of the matte black mug.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium black mug on the dark gray rack with flat back, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release the matte black mug.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the matte black mug on the dark gray rack with flat back, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the matte black mug on the medium-sized rack, and let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go of the medium black mug.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the matte black mug on the medium-sized rack, then let go.", + "Reach to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go of the medium black mug.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the matte black mug, grasp the matte black mug by edge contact point 0, lift the matte black mug, bring it to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go of the medium black mug.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, then release the matte black mug.", + "Move to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium black mug on the medium-sized rack, then let go.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium black mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go of the matte black mug.", + "Move the arm to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring the medium black mug to the medium-sized rack, hang the medium black mug on the medium-sized rack, then release the medium black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the matte black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the matte black mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the medium black mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and let go.", + "Grasp the matte black mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and let go of the medium black mug.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the medium-sized rack, hang the matte black mug on the medium-sized rack, then release the matte black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, and let go.", + "Grasp the medium black mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium black mug on the medium-sized rack, and release.", + "Grab the matte black mug by edge contact point 0, lift the matte black mug, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go of the matte black mug.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then release the ceramic mug.", + "Move to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the matte black mug on the medium-sized rack, then let go.", + "Use the arm to grasp the medium black mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium black mug on the rack with straight and slanted rods, then let go.", + "Reach to the medium black mug, grasp the medium black mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, then release.", + "Using the arm, go to the medium black mug, grasp the medium black mug by edge contact point 0, lift the medium black mug, bring it to the dark gray rack with flat back, hang the medium black mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the matte black mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the matte black mug on the dark gray rack with flat back, and let go.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Grab the medium black mug by edge contact point 0, lift the medium black mug, carry it over to the rack with straight and slanted rods, hang the medium black mug on the rack with straight and slanted rods, and let go of the medium black mug.", + "Move the arm to the matte black mug, grasp the matte black mug by edge contact point 0, lift it, bring the matte black mug to the rack with straight and slanted rods, hang the matte black mug on the rack with straight and slanted rods, then release the matte black mug.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode46.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..6e7eb60eba378f59277e0867ffb5acce8b81a1d5 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the light brown cylindrical mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the light brown cylindrical mug onto the smooth rack, and release the light brown cylindrical mug.", + "Using the arm, secure the light brown cylindrical mug by edge contact point 0, lift, align the light brown cylindrical mug with the angled rack with long and short rods, hang the light brown cylindrical mug on the angled rack with long and short rods, and let go.", + "With the arm, take the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug clear, move to the metallic rack with smooth finish, hook the brown medium-sized ceramic mug onto the metallic rack with smooth finish, then open the grip.", + "Move the arm toward the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the medium-sized mug onto the metallic rack with smooth finish to hang, then release.", + "Hold the mug with curved handle using edge contact point 0, lift the mug with curved handle up, bring the mug with curved handle to the dark gray rack, hang the mug with curved handle on the dark gray rack, then release.", + "Grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle, bring the mug with curved handle to the metallic angular rack with rod pair, set the mug with curved handle onto the metallic angular rack with rod pair to hang, and release the mug with curved handle.", + "Bring the arm to the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift it, move to the rack with angular body, hang the light brown mug with handle on the rack with angular body, then let go.", + "Direct the arm to grip the hand-held ceramic mug at edge contact point 0, pick the hand-held ceramic mug up, carry it to the dark gray rack, hang the hand-held ceramic mug on the dark gray rack, and release.", + "Take the light brown cylindrical mug by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the light brown cylindrical mug on the angular rack with slanted support rod, and release your grip.", + "Grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, move it over to the medium rack with protruding rods, hook the medium-sized mug onto the medium rack with protruding rods, and release the medium-sized mug.", + "Have the arm grasp the brown mug by edge contact point 0, lift the brown mug, bring it to the rack with angular body, hang the brown mug from the rack with angular body, then release.", + "Guide the arm to the drinking mug with smooth body, grip the drinking mug with smooth body by edge contact point 0, pick it up, move to the rack with angular body, hang the drinking mug with smooth body on the rack with angular body, and release.", + "Reach for the brown mug, grasp the brown mug by edge contact point 0, lift the brown mug clear, place the brown mug onto the metallic rack with smooth finish to hang, then release the brown mug.", + "Grab the brown mug at edge contact point 0, lift the brown mug, move it to the metallic angular rack with rod pair, hook the brown mug onto the metallic angular rack with rod pair, and release the brown mug.", + "With the arm, approach the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, bring it to the angled rack with long and short rods, hang the medium-sized mug on the angled rack with long and short rods, then let go.", + "Go to the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the drinking mug with smooth body on the rack with two rods sticking out, and let go.", + "Grab the brown mug for drinking at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the brown mug for drinking onto the rack with two rods sticking out so it hangs, then release the brown mug for drinking.", + "Grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle up, move the mug with curved handle to the rack with two rods sticking out, hang the mug with curved handle on the rack with two rods sticking out, and let go of the mug with curved handle.", + "Hold the hand-held ceramic mug at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the hand-held ceramic mug onto the rack with two rods sticking out to hang, then let go.", + "With the arm, reach the light brown mug, grasp the light brown mug by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the light brown mug on the rack with two rods sticking out, then release the light brown mug.", + "Grab the light brown mug at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the light brown mug on the angular rack with slanted support rod, then release the grip.", + "Use the arm to grab the medium-sized mug by edge contact point 0, lift the medium-sized mug, move over to the metallic rack with smooth finish, hang the medium-sized mug on the metallic rack with smooth finish, and release the medium-sized mug.", + "Using the arm, take the brown mug at edge contact point 0, raise the brown mug, move to the dark gray angled rack, hook the brown mug onto the dark gray angled rack, and release the brown mug.", + "Guide the arm to the brown mug for drinking, grip the brown mug for drinking at edge contact point 0, lift the brown mug for drinking, align the brown mug for drinking with the smooth dark gray rack, hang the brown mug for drinking on the smooth dark gray rack, release the brown mug for drinking.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the metallic angular rack with rod pair, hang the ceramic mug onto the metallic angular rack with rod pair, then release the ceramic mug.", + "Take the brown mug by edge contact point 0, lift it from its spot, carry the brown mug to the dark gray rack, hang the brown mug on the dark gray rack, then release the brown mug.", + "Move the arm toward the light brown mug with handle, grasp the light brown mug with handle at edge contact point 0, lift the light brown mug with handle, carry the light brown mug with handle to the metallic rack with smooth finish, hang the light brown mug with handle on the metallic rack with smooth finish, release the light brown mug with handle.", + "Reach the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, carry the light brown mug with handle to the angular rack with slanted support rod, hang the light brown mug with handle on the angular rack with slanted support rod, then release the light brown mug with handle.", + "Approach the mug with curved handle, take hold of the mug with curved handle by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the mug with curved handle onto the dark gray angled rack, and let go.", + "Use the arm to grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, move toward the angular rack with slanted support rod, hang the mug for holding liquid on the angular rack with slanted support rod, then release the mug for holding liquid.", + "With the arm, grasp the medium-sized mug by edge contact point 0, lift and transport the medium-sized mug to the medium rack with protruding rods, hang the medium-sized mug on the medium rack with protruding rods, then let go.", + "Send the arm to the brown mug, grasp the brown mug by edge contact point 0, lift it, carry the brown mug to the smooth dark gray rack, hang the brown mug on the smooth dark gray rack, and release the brown mug.", + "Grasp the light brown mug with handle at edge contact point 0, lift the light brown mug with handle from its spot, carry the light brown mug with handle to the dark gray angled rack, hang the light brown mug with handle on the dark gray angled rack, and release.", + "Take the brown mug for drinking by edge contact point 0, lift it, bring it over to the metal rack, place the brown mug for drinking onto the metal rack so it hangs, then let go.", + "Move the arm to the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the mug for holding liquid on the angular rack with slanted support rod, release the mug for holding liquid.", + "Direct the arm to the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift the brown mug for drinking clear, move to the dark gray rack, hang the brown mug for drinking on the dark gray rack, release the grip.", + "Pick up the mug with curved handle by edge contact point 0, move the mug with curved handle to the medium rack with protruding rods, hang the mug with curved handle on the medium rack with protruding rods, and release the mug with curved handle once it holds.", + "Have the arm reach the light brown cylindrical mug, grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug, move to the angled rack with long and short rods, hang the light brown cylindrical mug on the angled rack with long and short rods, then open the grip.", + "Get to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, bring it to the dark gray angled rack, hang the medium-sized mug on the dark gray angled rack, and release.", + "With the arm, take hold of the light brown mug by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the light brown mug on the rack with two rods sticking out, then release.", + "Grab the light brown mug with handle at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the light brown mug with handle onto the rack with two rods sticking out, and release the light brown mug with handle.", + "Using the arm, secure the brown medium-sized ceramic mug by edge contact point 0, lift, align the brown medium-sized ceramic mug with the medium rack with protruding rods, hang the brown medium-sized ceramic mug on the medium rack with protruding rods, and let go.", + "With the arm, take the light brown mug by edge contact point 0, lift the light brown mug clear, move to the rack with angular body, hook the light brown mug onto the rack with angular body, then open the grip.", + "Move the arm toward the brown mug, grasp the brown mug by edge contact point 0, lift it, travel to the smooth rack, place the brown mug onto the smooth rack to hang, then release.", + "Hold the brown mug for drinking using edge contact point 0, lift the brown mug for drinking up, bring the brown mug for drinking to the angular rack with slanted support rod, hang the brown mug for drinking on the angular rack with slanted support rod, then release.", + "Grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, bring the mug for holding liquid to the rack with angular body, set the mug for holding liquid onto the rack with angular body to hang, and release the mug for holding liquid.", + "Bring the arm to the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift it, move to the rack with angular body, hang the brown mug for drinking on the rack with angular body, then let go.", + "Direct the arm to grip the mug with curved handle at edge contact point 0, pick the mug with curved handle up, carry it to the smooth rack, hang the mug with curved handle on the smooth rack, and release.", + "Take the brown mug for drinking by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the brown mug for drinking on the smooth dark gray rack, and release your grip.", + "Grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, move it over to the metallic angular rack with rod pair, hook the light brown mug with handle onto the metallic angular rack with rod pair, and release the light brown mug with handle.", + "Have the arm grasp the brown mug for drinking by edge contact point 0, lift the brown mug for drinking, bring it to the dark gray rack, hang the brown mug for drinking from the dark gray rack, then release.", + "Guide the arm to the medium-sized mug, grip the medium-sized mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the medium-sized mug on the rack with two rods sticking out, and release.", + "Reach for the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body clear, place the drinking mug with smooth body onto the angular rack with slanted support rod to hang, then release the drinking mug with smooth body.", + "Grab the medium-sized mug at edge contact point 0, lift the medium-sized mug, move it to the rack with two rods sticking out, hook the medium-sized mug onto the rack with two rods sticking out, and release the medium-sized mug.", + "With the arm, approach the brown mug, grasp the brown mug by edge contact point 0, lift the brown mug, bring it to the dark gray rack, hang the brown mug on the dark gray rack, then let go.", + "Go to the light brown cylindrical mug, grasp the light brown cylindrical mug by edge contact point 0, lift it clear, align it with the dark gray rack, hang the light brown cylindrical mug on the dark gray rack, and let go.", + "Grab the brown medium-sized ceramic mug at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the brown medium-sized ceramic mug onto the rack with two rods sticking out so it hangs, then release the brown medium-sized ceramic mug.", + "Grasp the brown mug for drinking by edge contact point 0, lift the brown mug for drinking up, move the brown mug for drinking to the rack with two rods sticking out, hang the brown mug for drinking on the rack with two rods sticking out, and let go of the brown mug for drinking.", + "Hold the medium-sized mug at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the medium-sized mug onto the metallic rack with smooth finish to hang, then let go.", + "With the arm, reach the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift, align it to the smooth dark gray rack, hang the brown mug for drinking on the smooth dark gray rack, then release the brown mug for drinking.", + "Grab the light brown mug at edge contact point 0, lift it, bring it to the metal rack, hang the light brown mug on the metal rack, then release the grip.", + "Use the arm to grab the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, move over to the metallic rack with smooth finish, hang the mug for holding liquid on the metallic rack with smooth finish, and release the mug for holding liquid.", + "Using the arm, take the light brown mug at edge contact point 0, raise the light brown mug, move to the rack with two rods sticking out, hook the light brown mug onto the rack with two rods sticking out, and release the light brown mug.", + "Guide the arm to the light brown mug, grip the light brown mug at edge contact point 0, lift the light brown mug, align the light brown mug with the dark gray rack, hang the light brown mug on the dark gray rack, release the light brown mug.", + "Take the mug for holding liquid by edge contact point 0, lift the mug for holding liquid up, move the mug for holding liquid in front of the rack with angular body, hang the mug for holding liquid onto the rack with angular body, then release the mug for holding liquid.", + "Take the brown mug for drinking by edge contact point 0, lift it from its spot, carry the brown mug for drinking to the smooth rack, hang the brown mug for drinking on the smooth rack, then release the brown mug for drinking.", + "Move the arm toward the light brown mug, grasp the light brown mug at edge contact point 0, lift the light brown mug, carry the light brown mug to the metallic rack with smooth finish, hang the light brown mug on the metallic rack with smooth finish, release the light brown mug.", + "Reach the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, carry the hand-held ceramic mug to the medium rack with protruding rods, hang the hand-held ceramic mug on the medium rack with protruding rods, then release the hand-held ceramic mug.", + "Approach the ceramic mug, take hold of the ceramic mug by edge contact point 0, raise it, bring it to the smooth rack, hook the ceramic mug onto the smooth rack, and let go.", + "Use the arm to grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move toward the dark gray rack, hang the hand-held ceramic mug on the dark gray rack, then release the hand-held ceramic mug.", + "With the arm, grasp the brown mug for drinking by edge contact point 0, lift and transport the brown mug for drinking to the dark gray angled rack, hang the brown mug for drinking on the dark gray angled rack, then let go.", + "Send the arm to the brown mug, grasp the brown mug by edge contact point 0, lift it, carry the brown mug to the rack with two rods sticking out, hang the brown mug on the rack with two rods sticking out, and release the brown mug.", + "Grasp the brown mug at edge contact point 0, lift the brown mug from its spot, carry the brown mug to the rack with angular body, hang the brown mug on the rack with angular body, and release.", + "Take the mug with curved handle by edge contact point 0, lift it, bring it over to the dark gray rack, place the mug with curved handle onto the dark gray rack so it hangs, then let go.", + "Move the arm to the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the light brown mug with handle on the metallic rack with smooth finish, release the light brown mug with handle.", + "Direct the arm to the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug clear, move to the angular rack with slanted support rod, hang the hand-held ceramic mug on the angular rack with slanted support rod, release the grip.", + "Pick up the brown medium-sized ceramic mug by edge contact point 0, move the brown medium-sized ceramic mug to the rack with two rods sticking out, hang the brown medium-sized ceramic mug on the rack with two rods sticking out, and release the brown medium-sized ceramic mug once it holds.", + "Have the arm reach the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift the brown mug for drinking, move to the angled rack with long and short rods, hang the brown mug for drinking on the angled rack with long and short rods, then open the grip.", + "Get to the light brown mug, grasp the light brown mug by edge contact point 0, lift the light brown mug, bring it to the dark gray rack, hang the light brown mug on the dark gray rack, and release.", + "With the arm, take hold of the light brown cylindrical mug by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the light brown cylindrical mug on the rack with two rods sticking out, then release.", + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the ceramic mug onto the smooth rack, and release the ceramic mug.", + "Using the arm, secure the brown mug by edge contact point 0, lift, align the brown mug with the rack with two rods sticking out, hang the brown mug on the rack with two rods sticking out, and let go.", + "With the arm, take the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug clear, move to the dark gray angled rack, hook the brown medium-sized ceramic mug onto the dark gray angled rack, then open the grip.", + "Move the arm toward the mug with curved handle, grasp the mug with curved handle by edge contact point 0, lift it, travel to the smooth dark gray rack, place the mug with curved handle onto the smooth dark gray rack to hang, then release.", + "Hold the light brown mug with handle using edge contact point 0, lift the light brown mug with handle up, bring the light brown mug with handle to the smooth dark gray rack, hang the light brown mug with handle on the smooth dark gray rack, then release.", + "Grasp the brown mug by edge contact point 0, lift the brown mug, bring the brown mug to the dark gray rack, set the brown mug onto the dark gray rack to hang, and release the brown mug.", + "Bring the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, then let go.", + "Direct the arm to grip the light brown mug at edge contact point 0, pick the light brown mug up, carry it to the metallic angular rack with rod pair, hang the light brown mug on the metallic angular rack with rod pair, and release.", + "Take the ceramic mug by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, and release your grip.", + "Grasp the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug, move it over to the metal rack, hook the brown medium-sized ceramic mug onto the metal rack, and release the brown medium-sized ceramic mug.", + "Have the arm grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, bring it to the smooth dark gray rack, hang the light brown mug with handle from the smooth dark gray rack, then release.", + "Guide the arm to the hand-held ceramic mug, grip the hand-held ceramic mug by edge contact point 0, pick it up, move to the metallic rack with smooth finish, hang the hand-held ceramic mug on the metallic rack with smooth finish, and release.", + "Reach for the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug clear, place the medium-sized mug onto the angled rack with long and short rods to hang, then release the medium-sized mug.", + "Grab the light brown mug at edge contact point 0, lift the light brown mug, move it to the dark gray rack, hook the light brown mug onto the dark gray rack, and release the light brown mug.", + "With the arm, approach the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, bring it to the metal rack, hang the light brown mug with handle on the metal rack, then let go.", + "Go to the brown mug, grasp the brown mug by edge contact point 0, lift it clear, align it with the dark gray rack, hang the brown mug on the dark gray rack, and let go.", + "Grab the mug with curved handle at edge contact point 0, raise it, guide it to the dark gray rack, set the mug with curved handle onto the dark gray rack so it hangs, then release the mug with curved handle.", + "Grasp the light brown mug by edge contact point 0, lift the light brown mug up, move the light brown mug to the rack with angular body, hang the light brown mug on the rack with angular body, and let go of the light brown mug.", + "Hold the drinking mug with smooth body at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the drinking mug with smooth body onto the medium rack with protruding rods to hang, then let go.", + "With the arm, reach the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the drinking mug with smooth body on the angular rack with slanted support rod, then release the drinking mug with smooth body." + ], + "unseen": [ + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go of the smooth ceramic mug.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release the smooth ceramic mug.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go of the mug with smooth texture.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release the smooth ceramic mug.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then let go.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release the cylindrical mug.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go of the mug with smooth texture.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release the cylindrical mug.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go of the smooth ceramic mug.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release the cylindrical mug.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the smooth ceramic mug on the rack with straight and slanted rods, then let go.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go of the smooth ceramic mug.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release the cylindrical mug.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go of the smooth ceramic mug.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release the mug with smooth texture.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go of the smooth ceramic mug.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then let go.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go of the cylindrical mug.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then let go.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go of the cylindrical mug.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release the cylindrical mug.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then release the cylindrical mug.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then let go.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release the smooth ceramic mug.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and release.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, then let go.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode47.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..604472b076c486c6dd5e9ae7a6f006bf3fff3b55 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the arm, reach the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the medium mug with smooth texture on the metallic angular rack with rod pair, then release the medium mug with smooth texture.", + "Grab the medium mug with smooth texture at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the medium mug with smooth texture onto the rack with two rods sticking out so it hangs, then release the medium mug with smooth texture.", + "Use the arm to grasp the medium mug with smooth texture by edge contact point 0, lift the medium mug with smooth texture, move toward the angled rack with long and short rods, hang the medium mug with smooth texture on the angled rack with long and short rods, then release the medium mug with smooth texture.", + "Bring the arm to the ceramic mug smooth beige surface, grasp the ceramic mug smooth beige surface by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the ceramic mug smooth beige surface on the metallic rack with smooth finish, then let go.", + "Grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug, move it over to the angular rack with slanted support rod, hook the hand-sized ceramic cylindrical mug onto the angular rack with slanted support rod, and release the hand-sized ceramic cylindrical mug.", + "With the arm, approach the smooth ceramic beige mug, grasp the smooth ceramic beige mug by edge contact point 0, lift the smooth ceramic beige mug, bring it to the smooth rack, hang the smooth ceramic beige mug on the smooth rack, then let go.", + "Grab the medium beige mug at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the medium beige mug on the dark gray angled rack, then release the grip.", + "Direct the arm to the beige mug polished ceramic build, grasp the beige mug polished ceramic build by edge contact point 0, lift the beige mug polished ceramic build clear, move to the smooth dark gray rack, hang the beige mug polished ceramic build on the smooth dark gray rack, release the grip.", + "Move the arm to the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift, carry to the smooth rack, hang the light beige ceramic drinking mug on the smooth rack, release the light beige ceramic drinking mug.", + "Grasp the medium beige mug at edge contact point 0, lift the medium beige mug from its spot, carry the medium beige mug to the rack with two rods sticking out, hang the medium beige mug on the rack with two rods sticking out, and release.", + "Grab the mug with rounded handle at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the mug with rounded handle onto the medium rack with protruding rods, and release the mug with rounded handle.", + "With the arm, grasp the mug with rounded handle by edge contact point 0, lift and transport the mug with rounded handle to the smooth rack, hang the mug with rounded handle on the smooth rack, then let go.", + "With the arm, take the medium mug with smooth texture by edge contact point 0, lift the medium mug with smooth texture clear, move to the rack with angular body, hook the medium mug with smooth texture onto the rack with angular body, then open the grip.", + "Grab the medium beige mug at edge contact point 0, lift the medium beige mug, move it to the smooth dark gray rack, hook the medium beige mug onto the smooth dark gray rack, and release the medium beige mug.", + "Get to the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift the mug with rounded handle, bring it to the metallic angular rack with rod pair, hang the mug with rounded handle on the metallic angular rack with rod pair, and release.", + "Move the arm toward the ceramic mug, grasp the ceramic mug at edge contact point 0, lift the ceramic mug, carry the ceramic mug to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, release the ceramic mug.", + "With the arm, take hold of the beige mug polished ceramic build by edge contact point 0, pick it up, bring it to the dark gray rack, hang the beige mug polished ceramic build on the dark gray rack, then release.", + "Hold the light beige ceramic drinking mug using edge contact point 0, lift the light beige ceramic drinking mug up, bring the light beige ceramic drinking mug to the dark gray angled rack, hang the light beige ceramic drinking mug on the dark gray angled rack, then release.", + "Pick up the beige mug polished ceramic build by edge contact point 0, move the beige mug polished ceramic build to the dark gray rack, hang the beige mug polished ceramic build on the dark gray rack, and release the beige mug polished ceramic build once it holds.", + "Use the arm to grab the light beige drinking mug by edge contact point 0, lift the light beige drinking mug, move over to the dark gray angled rack, hang the light beige drinking mug on the dark gray angled rack, and release the light beige drinking mug.", + "Take the mug with rounded handle by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the mug with rounded handle on the smooth dark gray rack, and release your grip.", + "Reach the beige ceramic mug, grasp the beige ceramic mug by edge contact point 0, lift the beige ceramic mug, carry the beige ceramic mug to the smooth rack, hang the beige ceramic mug on the smooth rack, then release the beige ceramic mug.", + "Using the arm, secure the light beige drinking mug by edge contact point 0, lift, align the light beige drinking mug with the metallic rack with smooth finish, hang the light beige drinking mug on the metallic rack with smooth finish, and let go.", + "Hold the ceramic mug smooth beige surface at edge contact point 0, lift it up, move toward the dark gray angled rack, place the ceramic mug smooth beige surface onto the dark gray angled rack to hang, then let go.", + "Guide the arm to the mug with rounded handle, grip the mug with rounded handle at edge contact point 0, lift the mug with rounded handle, align the mug with rounded handle with the dark gray rack, hang the mug with rounded handle on the dark gray rack, release the mug with rounded handle.", + "Have the arm grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug, bring it to the rack with two rods sticking out, hang the hand-sized ceramic cylindrical mug from the rack with two rods sticking out, then release.", + "Take the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug up, move the light beige ceramic drinking mug in front of the metal rack, hang the light beige ceramic drinking mug onto the metal rack, then release the light beige ceramic drinking mug.", + "Have the arm reach the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift the medium mug with smooth texture, move to the rack with angular body, hang the medium mug with smooth texture on the rack with angular body, then open the grip.", + "Direct the arm to grip the beige ceramic mug at edge contact point 0, pick the beige ceramic mug up, carry it to the dark gray angled rack, hang the beige ceramic mug on the dark gray angled rack, and release.", + "Guide the arm to the ceramic mug smooth beige surface, grip the ceramic mug smooth beige surface by edge contact point 0, pick it up, move to the dark gray rack, hang the ceramic mug smooth beige surface on the dark gray rack, and release.", + "Reach for the ceramic mug smooth beige surface, grasp the ceramic mug smooth beige surface by edge contact point 0, lift the ceramic mug smooth beige surface clear, place the ceramic mug smooth beige surface onto the dark gray rack to hang, then release the ceramic mug smooth beige surface.", + "Approach the ceramic mug smooth beige surface, take hold of the ceramic mug smooth beige surface by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the ceramic mug smooth beige surface onto the metallic rack with smooth finish, and let go.", + "Take the smooth ceramic beige mug by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the smooth ceramic beige mug onto the dark gray angled rack so it hangs, then let go.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug to the metal rack, hang the ceramic mug on the metal rack, and let go of the ceramic mug.", + "Take the mug with rounded handle by edge contact point 0, lift it from its spot, carry the mug with rounded handle to the angled rack with long and short rods, hang the mug with rounded handle on the angled rack with long and short rods, then release the mug with rounded handle.", + "Move the arm toward the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the mug with rounded handle onto the rack with two rods sticking out to hang, then release.", + "Using the arm, take the light beige drinking mug at edge contact point 0, raise the light beige drinking mug, move to the dark gray angled rack, hook the light beige drinking mug onto the dark gray angled rack, and release the light beige drinking mug.", + "Send the arm to the beige mug handle on side, grasp the beige mug handle on side by edge contact point 0, lift it, carry the beige mug handle on side to the metallic angular rack with rod pair, hang the beige mug handle on side on the metallic angular rack with rod pair, and release the beige mug handle on side.", + "Grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug, bring the hand-sized ceramic cylindrical mug to the smooth dark gray rack, set the hand-sized ceramic cylindrical mug onto the smooth dark gray rack to hang, and release the hand-sized ceramic cylindrical mug.", + "Go to the ceramic mug smooth beige surface, grasp the ceramic mug smooth beige surface by edge contact point 0, lift it clear, align it with the dark gray angled rack, hang the ceramic mug smooth beige surface on the dark gray angled rack, and let go.", + "With the arm, reach the mug with rounded handle, grasp the mug with rounded handle by edge contact point 0, lift, align it to the smooth dark gray rack, hang the mug with rounded handle on the smooth dark gray rack, then release the mug with rounded handle.", + "Grab the beige mug polished ceramic build at edge contact point 0, raise it, guide it to the dark gray rack, set the beige mug polished ceramic build onto the dark gray rack so it hangs, then release the beige mug polished ceramic build.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move toward the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, then release the ceramic mug.", + "Bring the arm to the hand-sized ceramic cylindrical mug, grasp the hand-sized ceramic cylindrical mug by edge contact point 0, lift it, move to the dark gray angled rack, hang the hand-sized ceramic cylindrical mug on the dark gray angled rack, then let go.", + "Grasp the ceramic mug smooth beige surface by edge contact point 0, lift the ceramic mug smooth beige surface, move it over to the metallic angular rack with rod pair, hook the ceramic mug smooth beige surface onto the metallic angular rack with rod pair, and release the ceramic mug smooth beige surface.", + "With the arm, approach the smooth ceramic beige mug, grasp the smooth ceramic beige mug by edge contact point 0, lift the smooth ceramic beige mug, bring it to the dark gray angled rack, hang the smooth ceramic beige mug on the dark gray angled rack, then let go.", + "Grab the smooth ceramic beige mug at edge contact point 0, lift it, bring it to the dark gray rack, hang the smooth ceramic beige mug on the dark gray rack, then release the grip.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the rack with angular body, hang the ceramic mug on the rack with angular body, release the grip.", + "Move the arm to the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the medium mug with smooth texture on the rack with two rods sticking out, release the medium mug with smooth texture.", + "Grasp the light beige ceramic drinking mug at edge contact point 0, lift the light beige ceramic drinking mug from its spot, carry the light beige ceramic drinking mug to the dark gray angled rack, hang the light beige ceramic drinking mug on the dark gray angled rack, and release.", + "Grab the medium beige mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the medium beige mug onto the rack with two rods sticking out, and release the medium beige mug.", + "With the arm, grasp the ceramic mug by edge contact point 0, lift and transport the ceramic mug to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, then let go.", + "With the arm, take the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the angled rack with long and short rods, hook the ceramic mug onto the angled rack with long and short rods, then open the grip.", + "Grab the beige mug polished ceramic build at edge contact point 0, lift the beige mug polished ceramic build, move it to the metal rack, hook the beige mug polished ceramic build onto the metal rack, and release the beige mug polished ceramic build.", + "Get to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, and release.", + "Move the arm toward the mug with rounded handle, grasp the mug with rounded handle at edge contact point 0, lift the mug with rounded handle, carry the mug with rounded handle to the angular rack with slanted support rod, hang the mug with rounded handle on the angular rack with slanted support rod, release the mug with rounded handle.", + "With the arm, take hold of the ceramic mug by edge contact point 0, pick it up, bring it to the dark gray rack, hang the ceramic mug on the dark gray rack, then release.", + "Hold the hand-sized ceramic cylindrical mug using edge contact point 0, lift the hand-sized ceramic cylindrical mug up, bring the hand-sized ceramic cylindrical mug to the rack with angular body, hang the hand-sized ceramic cylindrical mug on the rack with angular body, then release.", + "Pick up the beige mug polished ceramic build by edge contact point 0, move the beige mug polished ceramic build to the angular rack with slanted support rod, hang the beige mug polished ceramic build on the angular rack with slanted support rod, and release the beige mug polished ceramic build once it holds.", + "Use the arm to grab the hand-sized ceramic cylindrical mug by edge contact point 0, lift the hand-sized ceramic cylindrical mug, move over to the smooth rack, hang the hand-sized ceramic cylindrical mug on the smooth rack, and release the hand-sized ceramic cylindrical mug.", + "Take the medium mug with smooth texture by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the medium mug with smooth texture on the smooth dark gray rack, and release your grip.", + "Reach the smooth ceramic beige mug, grasp the smooth ceramic beige mug by edge contact point 0, lift the smooth ceramic beige mug, carry the smooth ceramic beige mug to the rack with two rods sticking out, hang the smooth ceramic beige mug on the rack with two rods sticking out, then release the smooth ceramic beige mug.", + "Using the arm, secure the medium mug with smooth texture by edge contact point 0, lift, align the medium mug with smooth texture with the angled rack with long and short rods, hang the medium mug with smooth texture on the angled rack with long and short rods, and let go.", + "Hold the hand-sized ceramic cylindrical mug at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the hand-sized ceramic cylindrical mug onto the rack with two rods sticking out to hang, then let go.", + "Guide the arm to the beige mug handle on side, grip the beige mug handle on side at edge contact point 0, lift the beige mug handle on side, align the beige mug handle on side with the smooth dark gray rack, hang the beige mug handle on side on the smooth dark gray rack, release the beige mug handle on side.", + "Have the arm grasp the beige mug handle on side by edge contact point 0, lift the beige mug handle on side, bring it to the smooth rack, hang the beige mug handle on side from the smooth rack, then release.", + "Take the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug in front of the medium rack with protruding rods, hang the ceramic mug onto the medium rack with protruding rods, then release the ceramic mug.", + "Have the arm reach the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug, move to the dark gray angled rack, hang the light beige ceramic drinking mug on the dark gray angled rack, then open the grip.", + "Direct the arm to grip the beige ceramic mug at edge contact point 0, pick the beige ceramic mug up, carry it to the dark gray rack, hang the beige ceramic mug on the dark gray rack, and release.", + "Guide the arm to the hand-sized ceramic cylindrical mug, grip the hand-sized ceramic cylindrical mug by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the hand-sized ceramic cylindrical mug on the medium rack with protruding rods, and release.", + "Reach for the smooth ceramic beige mug, grasp the smooth ceramic beige mug by edge contact point 0, lift the smooth ceramic beige mug clear, place the smooth ceramic beige mug onto the dark gray rack to hang, then release the smooth ceramic beige mug.", + "Approach the beige mug polished ceramic build, take hold of the beige mug polished ceramic build by edge contact point 0, raise it, bring it to the dark gray rack, hook the beige mug polished ceramic build onto the dark gray rack, and let go.", + "Take the beige mug polished ceramic build by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the beige mug polished ceramic build onto the rack with two rods sticking out so it hangs, then let go.", + "Grasp the beige mug handle on side by edge contact point 0, lift the beige mug handle on side up, move the beige mug handle on side to the metallic angular rack with rod pair, hang the beige mug handle on side on the metallic angular rack with rod pair, and let go of the beige mug handle on side.", + "Take the light beige ceramic drinking mug by edge contact point 0, lift it from its spot, carry the light beige ceramic drinking mug to the metal rack, hang the light beige ceramic drinking mug on the metal rack, then release the light beige ceramic drinking mug.", + "Move the arm toward the smooth ceramic beige mug, grasp the smooth ceramic beige mug by edge contact point 0, lift it, travel to the dark gray rack, place the smooth ceramic beige mug onto the dark gray rack to hang, then release.", + "Using the arm, take the light beige ceramic drinking mug at edge contact point 0, raise the light beige ceramic drinking mug, move to the angular rack with slanted support rod, hook the light beige ceramic drinking mug onto the angular rack with slanted support rod, and release the light beige ceramic drinking mug.", + "Send the arm to the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift it, carry the medium mug with smooth texture to the metallic angular rack with rod pair, hang the medium mug with smooth texture on the metallic angular rack with rod pair, and release the medium mug with smooth texture.", + "Grasp the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug, bring the light beige ceramic drinking mug to the angular rack with slanted support rod, set the light beige ceramic drinking mug onto the angular rack with slanted support rod to hang, and release the light beige ceramic drinking mug.", + "Go to the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift it clear, align it with the rack with angular body, hang the light beige ceramic drinking mug on the rack with angular body, and let go.", + "With the arm, reach the beige mug handle on side, grasp the beige mug handle on side by edge contact point 0, lift, align it to the dark gray angled rack, hang the beige mug handle on side on the dark gray angled rack, then release the beige mug handle on side.", + "Grab the light beige ceramic drinking mug at edge contact point 0, raise it, guide it to the rack with angular body, set the light beige ceramic drinking mug onto the rack with angular body so it hangs, then release the light beige ceramic drinking mug.", + "Use the arm to grasp the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug, move toward the metallic rack with smooth finish, hang the light beige ceramic drinking mug on the metallic rack with smooth finish, then release the light beige ceramic drinking mug.", + "Bring the arm to the light beige drinking mug, grasp the light beige drinking mug by edge contact point 0, lift it, move to the smooth dark gray rack, hang the light beige drinking mug on the smooth dark gray rack, then let go.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move it over to the metallic angular rack with rod pair, hook the ceramic mug onto the metallic angular rack with rod pair, and release the ceramic mug.", + "With the arm, approach the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug, bring it to the dark gray angled rack, hang the light beige ceramic drinking mug on the dark gray angled rack, then let go.", + "Grab the ceramic mug at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, then release the grip.", + "Direct the arm to the beige mug handle on side, grasp the beige mug handle on side by edge contact point 0, lift the beige mug handle on side clear, move to the metal rack, hang the beige mug handle on side on the metal rack, release the grip.", + "Move the arm to the medium mug with smooth texture, grasp the medium mug with smooth texture by edge contact point 0, lift, carry to the metallic rack with smooth finish, hang the medium mug with smooth texture on the metallic rack with smooth finish, release the medium mug with smooth texture.", + "Grasp the medium mug with smooth texture at edge contact point 0, lift the medium mug with smooth texture from its spot, carry the medium mug with smooth texture to the smooth rack, hang the medium mug with smooth texture on the smooth rack, and release.", + "Grab the beige mug polished ceramic build at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the beige mug polished ceramic build onto the smooth dark gray rack, and release the beige mug polished ceramic build.", + "With the arm, grasp the medium mug with smooth texture by edge contact point 0, lift and transport the medium mug with smooth texture to the metallic rack with smooth finish, hang the medium mug with smooth texture on the metallic rack with smooth finish, then let go.", + "With the arm, take the beige ceramic mug by edge contact point 0, lift the beige ceramic mug clear, move to the medium rack with protruding rods, hook the beige ceramic mug onto the medium rack with protruding rods, then open the grip.", + "Grab the light beige drinking mug at edge contact point 0, lift the light beige drinking mug, move it to the dark gray rack, hook the light beige drinking mug onto the dark gray rack, and release the light beige drinking mug.", + "Get to the light beige ceramic drinking mug, grasp the light beige ceramic drinking mug by edge contact point 0, lift the light beige ceramic drinking mug, bring it to the smooth dark gray rack, hang the light beige ceramic drinking mug on the smooth dark gray rack, and release.", + "Move the arm toward the medium mug with smooth texture, grasp the medium mug with smooth texture at edge contact point 0, lift the medium mug with smooth texture, carry the medium mug with smooth texture to the smooth dark gray rack, hang the medium mug with smooth texture on the smooth dark gray rack, release the medium mug with smooth texture.", + "With the arm, take hold of the light beige drinking mug by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the light beige drinking mug on the rack with two rods sticking out, then release.", + "Hold the mug with rounded handle using edge contact point 0, lift the mug with rounded handle up, bring the mug with rounded handle to the metal rack, hang the mug with rounded handle on the metal rack, then release.", + "Pick up the mug with rounded handle by edge contact point 0, move the mug with rounded handle to the dark gray angled rack, hang the mug with rounded handle on the dark gray angled rack, and release the mug with rounded handle once it holds.", + "Use the arm to grab the ceramic mug by edge contact point 0, lift the ceramic mug, move over to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, and release the ceramic mug." + ], + "unseen": [ + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Grasp the mug beige smooth cylinder shape by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, then release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Move the arm to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring the mug beige smooth cylinder shape to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, then release the mug beige smooth cylinder shape.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go of the mug beige smooth cylinder shape.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, then let go.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release the cylindrical mug with handle.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and let go of the mug beige smooth cylinder shape.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then let go.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release the cylindrical mug with handle.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then let go.", + "Grasp the mug beige smooth cylinder shape by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and let go of the mug beige smooth cylinder shape.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then let go.", + "Move the arm to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring the mug beige smooth cylinder shape to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release the mug beige smooth cylinder shape.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go of the beige mug.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Using the arm, grab the mug beige smooth cylinder shape by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then let go.", + "Move the arm to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring the mug beige smooth cylinder shape to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, then release the mug beige smooth cylinder shape.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Use the arm to grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Grab the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, carry it over to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and let go of the mug beige smooth cylinder shape.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Use the arm to grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug beige smooth cylinder shape on the medium-sized rack, then let go.", + "Grasp the mug beige smooth cylinder shape by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go of the beige mug.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, and release.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige mug on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Using the arm, go to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift the mug beige smooth cylinder shape, bring it to the medium-sized rack, hang the mug beige smooth cylinder shape on the medium-sized rack, and release.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Reach to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug beige smooth cylinder shape on the rack with straight and slanted rods, then release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and let go.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Move to the mug beige smooth cylinder shape, grasp the mug beige smooth cylinder shape by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug beige smooth cylinder shape on the dark gray rack with flat back, then let go.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode48.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..9c5086787ca06b6a848ce278c06e421188037b29 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the arm, grasp the ceramic mug with cartoons by edge contact point 0, lift and transport the ceramic mug with cartoons to the metal rack, hang the ceramic mug with cartoons on the metal rack, then let go.", + "Take the mug with glossy texture by edge contact point 0, lift it, bring it over to the metallic angular rack with rod pair, place the mug with glossy texture onto the metallic angular rack with rod pair so it hangs, then let go.", + "Use the arm to grab the mug for hot drinks by edge contact point 0, lift the mug for hot drinks, move over to the smooth dark gray rack, hang the mug for hot drinks on the smooth dark gray rack, and release the mug for hot drinks.", + "Take the mug with cartoon design by edge contact point 0, lift it from its spot, carry the mug with cartoon design to the smooth dark gray rack, hang the mug with cartoon design on the smooth dark gray rack, then release the mug with cartoon design.", + "Get to the mug with yellow chicken image, grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, bring it to the medium rack with protruding rods, hang the mug with yellow chicken image on the medium rack with protruding rods, and release.", + "Grab the mug with cartoon design at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the mug with cartoon design onto the angular rack with slanted support rod so it hangs, then release the mug with cartoon design.", + "Using the arm, take the curved handle mug at edge contact point 0, raise the curved handle mug, move to the rack with angular body, hook the curved handle mug onto the rack with angular body, and release the curved handle mug.", + "Go to the curved handle mug, grasp the curved handle mug by edge contact point 0, lift it clear, align it with the dark gray rack, hang the curved handle mug on the dark gray rack, and let go.", + "Direct the arm to grip the medium mug fits in hand at edge contact point 0, pick the medium mug fits in hand up, carry it to the rack with two rods sticking out, hang the medium mug fits in hand on the rack with two rods sticking out, and release.", + "Using the arm, secure the smooth ceramic mug by edge contact point 0, lift, align the smooth ceramic mug with the metallic angular rack with rod pair, hang the smooth ceramic mug on the metallic angular rack with rod pair, and let go.", + "Move the arm toward the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the colorful cartoon mug onto the metallic rack with smooth finish to hang, then release.", + "Guide the arm to the mug with prints, grip the mug with prints at edge contact point 0, lift the mug with prints, align the mug with prints with the angled rack with long and short rods, hang the mug with prints on the angled rack with long and short rods, release the mug with prints.", + "Grab the mug with cartoon design at edge contact point 0, pick it up, move it over to the metal rack, hang the mug with cartoon design onto the metal rack, and release the mug with cartoon design.", + "Take the mug with glossy texture by edge contact point 0, lift the mug with glossy texture up, move the mug with glossy texture in front of the metallic rack with smooth finish, hang the mug with glossy texture onto the metallic rack with smooth finish, then release the mug with glossy texture.", + "Grasp the mug with cartoon design by edge contact point 0, lift the mug with cartoon design, move it over to the metallic angular rack with rod pair, hook the mug with cartoon design onto the metallic angular rack with rod pair, and release the mug with cartoon design.", + "Take the ceramic mug with cartoons by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the ceramic mug with cartoons on the rack with angular body, and release your grip.", + "Move the arm toward the curved handle mug, grasp the curved handle mug at edge contact point 0, lift the curved handle mug, carry the curved handle mug to the rack with two rods sticking out, hang the curved handle mug on the rack with two rods sticking out, release the curved handle mug.", + "With the arm, approach the mug with prints, grasp the mug with prints by edge contact point 0, lift the mug with prints, bring it to the angled rack with long and short rods, hang the mug with prints on the angled rack with long and short rods, then let go.", + "Direct the arm to the mug with prints, grasp the mug with prints by edge contact point 0, lift the mug with prints clear, move to the smooth dark gray rack, hang the mug with prints on the smooth dark gray rack, release the grip.", + "Send the arm to the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift it, carry the colorful cartoon mug to the dark gray angled rack, hang the colorful cartoon mug on the dark gray angled rack, and release the colorful cartoon mug.", + "Grasp the medium mug fits in hand by edge contact point 0, lift the medium mug fits in hand up, move the medium mug fits in hand to the dark gray angled rack, hang the medium mug fits in hand on the dark gray angled rack, and let go of the medium mug fits in hand.", + "With the arm, reach the mug with yellow chicken image, grasp the mug with yellow chicken image by edge contact point 0, lift, align it to the metallic rack with smooth finish, hang the mug with yellow chicken image on the metallic rack with smooth finish, then release the mug with yellow chicken image.", + "Hold the mug with prints using edge contact point 0, lift the mug with prints up, bring the mug with prints to the metallic rack with smooth finish, hang the mug with prints on the metallic rack with smooth finish, then release.", + "Approach the medium light mug, take hold of the medium light mug by edge contact point 0, raise it, bring it to the metal rack, hook the medium light mug onto the metal rack, and let go.", + "Grasp the ceramic mug with cartoons by edge contact point 0, lift the ceramic mug with cartoons, bring the ceramic mug with cartoons to the dark gray angled rack, set the ceramic mug with cartoons onto the dark gray angled rack to hang, and release the ceramic mug with cartoons.", + "Bring the arm to the mug for hot drinks, grasp the mug for hot drinks by edge contact point 0, lift it, move to the dark gray angled rack, hang the mug for hot drinks on the dark gray angled rack, then let go.", + "Use the arm to grasp the medium light mug by edge contact point 0, lift the medium light mug, move toward the smooth dark gray rack, hang the medium light mug on the smooth dark gray rack, then release the medium light mug.", + "With the arm, take the mug with cartoon design by edge contact point 0, lift the mug with cartoon design clear, move to the dark gray angled rack, hook the mug with cartoon design onto the dark gray angled rack, then open the grip.", + "Pick up the ceramic mug with cartoons by edge contact point 0, move the ceramic mug with cartoons to the medium rack with protruding rods, hang the ceramic mug with cartoons on the medium rack with protruding rods, and release the ceramic mug with cartoons once it holds.", + "Guide the arm to the mug with yellow chicken image, grip the mug with yellow chicken image by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the mug with yellow chicken image on the angular rack with slanted support rod, and release.", + "Have the arm reach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move to the smooth dark gray rack, hang the smooth ceramic mug on the smooth dark gray rack, then open the grip.", + "Grasp the mug with cartoon design at edge contact point 0, lift the mug with cartoon design from its spot, carry the mug with cartoon design to the metallic angular rack with rod pair, hang the mug with cartoon design on the metallic angular rack with rod pair, and release.", + "Reach for the curved handle mug, grasp the curved handle mug by edge contact point 0, lift the curved handle mug clear, place the curved handle mug onto the metallic angular rack with rod pair to hang, then release the curved handle mug.", + "Grab the ceramic mug with cartoons at edge contact point 0, lift it, bring it to the rack with angular body, hang the ceramic mug with cartoons on the rack with angular body, then release the grip.", + "Have the arm grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks, bring it to the metallic angular rack with rod pair, hang the mug for hot drinks from the metallic angular rack with rod pair, then release.", + "Grab the curved handle mug at edge contact point 0, lift the curved handle mug, move it to the smooth dark gray rack, hook the curved handle mug onto the smooth dark gray rack, and release the curved handle mug.", + "With the arm, take hold of the medium mug fits in hand by edge contact point 0, pick it up, bring it to the metallic angular rack with rod pair, hang the medium mug fits in hand on the metallic angular rack with rod pair, then release.", + "Reach the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture, carry the mug with glossy texture to the smooth dark gray rack, hang the mug with glossy texture on the smooth dark gray rack, then release the mug with glossy texture.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the smooth ceramic mug on the angular rack with slanted support rod, release the smooth ceramic mug.", + "Hold the medium mug fits in hand at edge contact point 0, lift it up, move toward the dark gray angled rack, place the medium mug fits in hand onto the dark gray angled rack to hang, then let go.", + "With the arm, grasp the medium light mug by edge contact point 0, lift and transport the medium light mug to the angular rack with slanted support rod, hang the medium light mug on the angular rack with slanted support rod, then let go.", + "Take the medium light mug by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the medium light mug onto the angled rack with long and short rods so it hangs, then let go.", + "Use the arm to grab the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug, move over to the dark gray rack, hang the colorful cartoon mug on the dark gray rack, and release the colorful cartoon mug.", + "Take the curved handle mug by edge contact point 0, lift it from its spot, carry the curved handle mug to the angled rack with long and short rods, hang the curved handle mug on the angled rack with long and short rods, then release the curved handle mug.", + "Get to the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture, bring it to the rack with angular body, hang the mug with glossy texture on the rack with angular body, and release.", + "Grab the curved handle mug at edge contact point 0, raise it, guide it to the metallic rack with smooth finish, set the curved handle mug onto the metallic rack with smooth finish so it hangs, then release the curved handle mug.", + "Using the arm, take the mug with cartoon design at edge contact point 0, raise the mug with cartoon design, move to the smooth rack, hook the mug with cartoon design onto the smooth rack, and release the mug with cartoon design.", + "Go to the mug with cartoon design, grasp the mug with cartoon design by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the mug with cartoon design on the metallic angular rack with rod pair, and let go.", + "Direct the arm to grip the curved handle mug at edge contact point 0, pick the curved handle mug up, carry it to the angular rack with slanted support rod, hang the curved handle mug on the angular rack with slanted support rod, and release.", + "Using the arm, secure the colorful cartoon mug by edge contact point 0, lift, align the colorful cartoon mug with the rack with two rods sticking out, hang the colorful cartoon mug on the rack with two rods sticking out, and let go.", + "Move the arm toward the medium mug fits in hand, grasp the medium mug fits in hand by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the medium mug fits in hand onto the angled rack with long and short rods to hang, then release.", + "Guide the arm to the medium mug fits in hand, grip the medium mug fits in hand at edge contact point 0, lift the medium mug fits in hand, align the medium mug fits in hand with the smooth dark gray rack, hang the medium mug fits in hand on the smooth dark gray rack, release the medium mug fits in hand.", + "Grab the medium light mug at edge contact point 0, pick it up, move it over to the rack with angular body, hang the medium light mug onto the rack with angular body, and release the medium light mug.", + "Take the mug with cartoon design by edge contact point 0, lift the mug with cartoon design up, move the mug with cartoon design in front of the metallic rack with smooth finish, hang the mug with cartoon design onto the metallic rack with smooth finish, then release the mug with cartoon design.", + "Grasp the medium light mug by edge contact point 0, lift the medium light mug, move it over to the dark gray angled rack, hook the medium light mug onto the dark gray angled rack, and release the medium light mug.", + "Take the medium light mug by edge contact point 0, lift it off the surface, move it to the smooth rack, hang the medium light mug on the smooth rack, and release your grip.", + "Move the arm toward the mug for hot drinks, grasp the mug for hot drinks at edge contact point 0, lift the mug for hot drinks, carry the mug for hot drinks to the angular rack with slanted support rod, hang the mug for hot drinks on the angular rack with slanted support rod, release the mug for hot drinks.", + "With the arm, approach the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack, hang the beige mug on the dark gray rack, then let go.", + "Direct the arm to the curved handle mug, grasp the curved handle mug by edge contact point 0, lift the curved handle mug clear, move to the angular rack with slanted support rod, hang the curved handle mug on the angular rack with slanted support rod, release the grip.", + "Send the arm to the mug with prints, grasp the mug with prints by edge contact point 0, lift it, carry the mug with prints to the metallic rack with smooth finish, hang the mug with prints on the metallic rack with smooth finish, and release the mug with prints.", + "Grasp the medium mug fits in hand by edge contact point 0, lift the medium mug fits in hand up, move the medium mug fits in hand to the metallic angular rack with rod pair, hang the medium mug fits in hand on the metallic angular rack with rod pair, and let go of the medium mug fits in hand.", + "With the arm, reach the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the smooth ceramic mug on the rack with two rods sticking out, then release the smooth ceramic mug.", + "Hold the mug with cartoon design using edge contact point 0, lift the mug with cartoon design up, bring the mug with cartoon design to the angled rack with long and short rods, hang the mug with cartoon design on the angled rack with long and short rods, then release.", + "Approach the medium light mug, take hold of the medium light mug by edge contact point 0, raise it, bring it to the angular rack with slanted support rod, hook the medium light mug onto the angular rack with slanted support rod, and let go.", + "Grasp the mug with yellow chicken image by edge contact point 0, lift the mug with yellow chicken image, bring the mug with yellow chicken image to the dark gray rack, set the mug with yellow chicken image onto the dark gray rack to hang, and release the mug with yellow chicken image.", + "Bring the arm to the medium mug fits in hand, grasp the medium mug fits in hand by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the medium mug fits in hand on the angular rack with slanted support rod, then let go.", + "Use the arm to grasp the medium mug fits in hand by edge contact point 0, lift the medium mug fits in hand, move toward the medium rack with protruding rods, hang the medium mug fits in hand on the medium rack with protruding rods, then release the medium mug fits in hand.", + "With the arm, take the medium light mug by edge contact point 0, lift the medium light mug clear, move to the metallic angular rack with rod pair, hook the medium light mug onto the metallic angular rack with rod pair, then open the grip.", + "Pick up the mug with cartoon design by edge contact point 0, move the mug with cartoon design to the angled rack with long and short rods, hang the mug with cartoon design on the angled rack with long and short rods, and release the mug with cartoon design once it holds.", + "Guide the arm to the ceramic mug with cartoons, grip the ceramic mug with cartoons by edge contact point 0, pick it up, move to the dark gray rack, hang the ceramic mug with cartoons on the dark gray rack, and release.", + "Have the arm reach the medium light mug, grasp the medium light mug by edge contact point 0, lift the medium light mug, move to the dark gray angled rack, hang the medium light mug on the dark gray angled rack, then open the grip.", + "Grasp the colorful cartoon mug at edge contact point 0, lift the colorful cartoon mug from its spot, carry the colorful cartoon mug to the medium rack with protruding rods, hang the colorful cartoon mug on the medium rack with protruding rods, and release.", + "Reach for the mug with cartoon design, grasp the mug with cartoon design by edge contact point 0, lift the mug with cartoon design clear, place the mug with cartoon design onto the metallic angular rack with rod pair to hang, then release the mug with cartoon design.", + "Grab the ceramic mug with cartoons at edge contact point 0, lift it, bring it to the smooth rack, hang the ceramic mug with cartoons on the smooth rack, then release the grip.", + "Have the arm grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the smooth rack, hang the beige mug from the smooth rack, then release.", + "Grab the colorful cartoon mug at edge contact point 0, lift the colorful cartoon mug, move it to the rack with angular body, hook the colorful cartoon mug onto the rack with angular body, and release the colorful cartoon mug.", + "With the arm, take hold of the medium light mug by edge contact point 0, pick it up, bring it to the dark gray angled rack, hang the medium light mug on the dark gray angled rack, then release.", + "Reach the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift the mug with glossy texture, carry the mug with glossy texture to the angular rack with slanted support rod, hang the mug with glossy texture on the angular rack with slanted support rod, then release the mug with glossy texture.", + "Move the arm to the mug with cartoon design, grasp the mug with cartoon design by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the mug with cartoon design on the angular rack with slanted support rod, release the mug with cartoon design.", + "Hold the beige mug at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the beige mug onto the metallic rack with smooth finish to hang, then let go.", + "With the arm, grasp the smooth ceramic mug by edge contact point 0, lift and transport the smooth ceramic mug to the metallic rack with smooth finish, hang the smooth ceramic mug on the metallic rack with smooth finish, then let go.", + "Take the beige mug by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the beige mug onto the angled rack with long and short rods so it hangs, then let go.", + "Use the arm to grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move over to the metallic rack with smooth finish, hang the smooth ceramic mug on the metallic rack with smooth finish, and release the smooth ceramic mug.", + "Take the mug with glossy texture by edge contact point 0, lift it from its spot, carry the mug with glossy texture to the smooth dark gray rack, hang the mug with glossy texture on the smooth dark gray rack, then release the mug with glossy texture.", + "Get to the colorful cartoon mug, grasp the colorful cartoon mug by edge contact point 0, lift the colorful cartoon mug, bring it to the smooth dark gray rack, hang the colorful cartoon mug on the smooth dark gray rack, and release.", + "Grab the mug with glossy texture at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the mug with glossy texture onto the angled rack with long and short rods so it hangs, then release the mug with glossy texture.", + "Using the arm, take the colorful cartoon mug at edge contact point 0, raise the colorful cartoon mug, move to the dark gray angled rack, hook the colorful cartoon mug onto the dark gray angled rack, and release the colorful cartoon mug.", + "Go to the ceramic mug with cartoons, grasp the ceramic mug with cartoons by edge contact point 0, lift it clear, align it with the smooth rack, hang the ceramic mug with cartoons on the smooth rack, and let go.", + "Direct the arm to grip the smooth ceramic mug at edge contact point 0, pick the smooth ceramic mug up, carry it to the metallic rack with smooth finish, hang the smooth ceramic mug on the metallic rack with smooth finish, and release.", + "Using the arm, secure the medium light mug by edge contact point 0, lift, align the medium light mug with the dark gray rack, hang the medium light mug on the dark gray rack, and let go.", + "Move the arm toward the mug with glossy texture, grasp the mug with glossy texture by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the mug with glossy texture onto the metallic angular rack with rod pair to hang, then release.", + "Guide the arm to the medium light mug, grip the medium light mug at edge contact point 0, lift the medium light mug, align the medium light mug with the angular rack with slanted support rod, hang the medium light mug on the angular rack with slanted support rod, release the medium light mug.", + "Grab the mug with glossy texture at edge contact point 0, pick it up, move it over to the rack with angular body, hang the mug with glossy texture onto the rack with angular body, and release the mug with glossy texture.", + "Take the beige mug by edge contact point 0, lift the beige mug up, move the beige mug in front of the medium rack with protruding rods, hang the beige mug onto the medium rack with protruding rods, then release the beige mug.", + "Grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks, move it over to the dark gray rack, hook the mug for hot drinks onto the dark gray rack, and release the mug for hot drinks.", + "Take the smooth ceramic mug by edge contact point 0, lift it off the surface, move it to the metallic rack with smooth finish, hang the smooth ceramic mug on the metallic rack with smooth finish, and release your grip.", + "Move the arm toward the mug with cartoon design, grasp the mug with cartoon design at edge contact point 0, lift the mug with cartoon design, carry the mug with cartoon design to the metallic angular rack with rod pair, hang the mug with cartoon design on the metallic angular rack with rod pair, release the mug with cartoon design.", + "With the arm, approach the medium light mug, grasp the medium light mug by edge contact point 0, lift the medium light mug, bring it to the smooth rack, hang the medium light mug on the smooth rack, then let go.", + "Direct the arm to the mug for hot drinks, grasp the mug for hot drinks by edge contact point 0, lift the mug for hot drinks clear, move to the dark gray rack, hang the mug for hot drinks on the dark gray rack, release the grip.", + "Send the arm to the mug with prints, grasp the mug with prints by edge contact point 0, lift it, carry the mug with prints to the rack with angular body, hang the mug with prints on the rack with angular body, and release the mug with prints." + ], + "unseen": [ + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release the printed beige mug.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the printed beige mug on the medium-sized rack, then let go.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Using the arm, grab the cylindrical mug with handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then release.", + "Grasp the printed beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and let go of the cylindrical mug with handle.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release the cylindrical mug with handle.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Using the arm, go to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then release the cylindrical mug with handle.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the printed beige mug on the medium-sized rack, then let go.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go of the printed beige mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release the printed beige mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the printed beige mug on the medium-sized rack, then let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and release.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then release the printed beige mug.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the printed beige mug on the medium-sized rack, then let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with handle on the dark gray rack with flat back, then let go.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go of the printed beige mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then release.", + "Grasp the printed beige mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release the cylindrical mug with handle.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go of the printed beige mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then release the cylindrical mug with handle.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the medium-sized rack, hang the printed beige mug on the medium-sized rack, and let go of the printed beige mug.", + "Using the arm, grab the printed beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, then release.", + "Grasp the printed beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release the beige coffee mug.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug with handle on the medium-sized rack, then let go.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the dark gray rack with flat back, hang the cylindrical mug with handle on the dark gray rack with flat back, and let go of the cylindrical mug with handle.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, and release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release the beige coffee mug.", + "Move to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the printed beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the printed beige mug on the dark gray rack with flat back, then let go.", + "Grab the cylindrical mug with handle by edge contact point 0, lift the cylindrical mug with handle, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and let go of the cylindrical mug with handle.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Reach to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, and release.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Move the arm to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift it, bring the printed beige mug to the dark gray rack with flat back, hang the printed beige mug on the dark gray rack with flat back, then release the printed beige mug.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go of the printed beige mug.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Reach to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release.", + "Grasp the cylindrical mug with handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, and release.", + "Using the arm, go to the printed beige mug, grasp the printed beige mug by edge contact point 0, lift the printed beige mug, bring it to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and release.", + "Move the arm to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, bring the cylindrical mug with handle to the medium-sized rack, hang the cylindrical mug with handle on the medium-sized rack, then release the cylindrical mug with handle.", + "Move to the cylindrical mug with handle, grasp the cylindrical mug with handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug with handle on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Grab the printed beige mug by edge contact point 0, lift the printed beige mug, carry it over to the rack with straight and slanted rods, hang the printed beige mug on the rack with straight and slanted rods, and let go of the printed beige mug." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode49.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..ca195afbbeeaa75b93e3dc9e755014c66036b723 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, then release.", + "Grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring the medium-sized white mug to the metallic angular rack with rod pair, set the medium-sized white mug onto the metallic angular rack with rod pair to hang, and release the medium-sized white mug.", + "Guide the arm to the glossy mug for beverages, grip the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, align the glossy mug for beverages with the metal rack, hang the glossy mug for beverages on the metal rack, release the glossy mug for beverages.", + "Move the arm toward the smooth and plain drinking mug, grasp the smooth and plain drinking mug at edge contact point 0, lift the smooth and plain drinking mug, carry the smooth and plain drinking mug to the metallic rack with smooth finish, hang the smooth and plain drinking mug on the metallic rack with smooth finish, release the smooth and plain drinking mug.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the angled rack with long and short rods, hang the ceramic mug on the angled rack with long and short rods, release the ceramic mug.", + "Reach for the plain glossy mug, grasp the plain glossy mug by edge contact point 0, lift the plain glossy mug clear, place the plain glossy mug onto the smooth dark gray rack to hang, then release the plain glossy mug.", + "With the arm, take hold of the ceramic mug by edge contact point 0, pick it up, bring it to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, then release.", + "Bring the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, move to the angled rack with long and short rods, hang the medium-sized white mug on the angled rack with long and short rods, then let go.", + "Grab the basic mug in solid white at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the basic mug in solid white on the metallic angular rack with rod pair, then release the grip.", + "With the arm, take the medium white mug with handle by edge contact point 0, lift the medium white mug with handle clear, move to the angled rack with long and short rods, hook the medium white mug with handle onto the angled rack with long and short rods, then open the grip.", + "With the arm, reach the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the medium-sized white mug on the angled rack with long and short rods, then release the medium-sized white mug.", + "Pick up the medium white mug with handle by edge contact point 0, move the medium white mug with handle to the dark gray rack, hang the medium white mug with handle on the dark gray rack, and release the medium white mug with handle once it holds.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, release the grip.", + "Have the arm reach the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages, move to the rack with two rods sticking out, hang the glossy mug for beverages on the rack with two rods sticking out, then open the grip.", + "Grasp the medium-sized white mug at edge contact point 0, lift the medium-sized white mug from its spot, carry the medium-sized white mug to the angled rack with long and short rods, hang the medium-sized white mug on the angled rack with long and short rods, and release.", + "Grab the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, move it to the dark gray rack, hook the glossy mug for beverages onto the dark gray rack, and release the glossy mug for beverages.", + "With the arm, grasp the basic mug in solid white by edge contact point 0, lift and transport the basic mug in solid white to the metal rack, hang the basic mug in solid white on the metal rack, then let go.", + "Take the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle up, move the white mug with rounded handle in front of the metallic angular rack with rod pair, hang the white mug with rounded handle onto the metallic angular rack with rod pair, then release the white mug with rounded handle.", + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the ceramic mug onto the metallic rack with smooth finish, and release the ceramic mug.", + "Move the arm toward the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, travel to the metal rack, place the medium-sized white mug onto the metal rack to hang, then release.", + "Grab the basic mug in solid white at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the basic mug in solid white onto the angled rack with long and short rods so it hangs, then release the basic mug in solid white.", + "Reach the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, carry the ceramic mug to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, then release the ceramic mug.", + "Using the arm, secure the hand-sized ceramic mug by edge contact point 0, lift, align the hand-sized ceramic mug with the metallic angular rack with rod pair, hang the hand-sized ceramic mug on the metallic angular rack with rod pair, and let go.", + "Grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, move it over to the rack with two rods sticking out, hook the hand-sized ceramic mug onto the rack with two rods sticking out, and release the hand-sized ceramic mug.", + "Take the plain glossy mug by edge contact point 0, lift it from its spot, carry the plain glossy mug to the rack with two rods sticking out, hang the plain glossy mug on the rack with two rods sticking out, then release the plain glossy mug.", + "Grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic up, move the cylindrical mug made of ceramic to the smooth rack, hang the cylindrical mug made of ceramic on the smooth rack, and let go of the cylindrical mug made of ceramic.", + "Get to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle, bring it to the metallic angular rack with rod pair, hang the medium white mug with handle on the metallic angular rack with rod pair, and release.", + "Approach the medium-sized white mug, take hold of the medium-sized white mug by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the medium-sized white mug onto the rack with two rods sticking out, and let go.", + "Take the smooth white mug with curved handle by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the smooth white mug with curved handle onto the angular rack with slanted support rod so it hangs, then let go.", + "Guide the arm to the cylindrical mug made of ceramic, grip the cylindrical mug made of ceramic by edge contact point 0, pick it up, move to the angular rack with slanted support rod, hang the cylindrical mug made of ceramic on the angular rack with slanted support rod, and release.", + "Go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the medium-sized white mug on the metallic angular rack with rod pair, and let go.", + "Take the hand-sized ceramic mug by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the hand-sized ceramic mug on the smooth dark gray rack, and release your grip.", + "Use the arm to grab the medium white mug with handle by edge contact point 0, lift the medium white mug with handle, move over to the angled rack with long and short rods, hang the medium white mug with handle on the angled rack with long and short rods, and release the medium white mug with handle.", + "Direct the arm to grip the basic mug in solid white at edge contact point 0, pick the basic mug in solid white up, carry it to the medium rack with protruding rods, hang the basic mug in solid white on the medium rack with protruding rods, and release.", + "With the arm, approach the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the metallic rack with smooth finish, hang the medium-sized white mug on the metallic rack with smooth finish, then let go.", + "Hold the cylindrical mug made of ceramic at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the cylindrical mug made of ceramic onto the angled rack with long and short rods to hang, then let go.", + "Use the arm to grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, move toward the smooth dark gray rack, hang the hand-sized ceramic mug on the smooth dark gray rack, then release the hand-sized ceramic mug.", + "Using the arm, take the smooth white mug with curved handle at edge contact point 0, raise the smooth white mug with curved handle, move to the metallic angular rack with rod pair, hook the smooth white mug with curved handle onto the metallic angular rack with rod pair, and release the smooth white mug with curved handle.", + "Send the arm to the glossy mug for beverages, grasp the glossy mug for beverages by edge contact point 0, lift it, carry the glossy mug for beverages to the rack with angular body, hang the glossy mug for beverages on the rack with angular body, and release the glossy mug for beverages.", + "Have the arm grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages, bring it to the metal rack, hang the glossy mug for beverages from the metal rack, then release.", + "Hold the cylindrical mug made of ceramic using edge contact point 0, lift the cylindrical mug made of ceramic up, bring the cylindrical mug made of ceramic to the rack with angular body, hang the cylindrical mug made of ceramic on the rack with angular body, then release.", + "Grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring the medium-sized white mug to the rack with two rods sticking out, set the medium-sized white mug onto the rack with two rods sticking out to hang, and release the medium-sized white mug.", + "Guide the arm to the white mug, grip the white mug at edge contact point 0, lift the white mug, align the white mug with the metallic rack with smooth finish, hang the white mug on the metallic rack with smooth finish, release the white mug.", + "Move the arm toward the medium white mug with handle, grasp the medium white mug with handle at edge contact point 0, lift the medium white mug with handle, carry the medium white mug with handle to the metallic angular rack with rod pair, hang the medium white mug with handle on the metallic angular rack with rod pair, release the medium white mug with handle.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift, carry to the dark gray rack, hang the medium-sized white mug on the dark gray rack, release the medium-sized white mug.", + "Reach for the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug clear, place the medium-sized white mug onto the dark gray angled rack to hang, then release the medium-sized white mug.", + "With the arm, take hold of the medium white mug with handle by edge contact point 0, pick it up, bring it to the angled rack with long and short rods, hang the medium white mug with handle on the angled rack with long and short rods, then release.", + "Bring the arm to the white mug, grasp the white mug by edge contact point 0, lift it, move to the rack with angular body, hang the white mug on the rack with angular body, then let go.", + "Grab the white mug at edge contact point 0, lift it, bring it to the rack with angular body, hang the white mug on the rack with angular body, then release the grip.", + "With the arm, take the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug clear, move to the smooth rack, hook the hand-sized ceramic mug onto the smooth rack, then open the grip.", + "With the arm, reach the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift, align it to the angled rack with long and short rods, hang the smooth and plain drinking mug on the angled rack with long and short rods, then release the smooth and plain drinking mug.", + "Pick up the smooth white mug with curved handle by edge contact point 0, move the smooth white mug with curved handle to the rack with angular body, hang the smooth white mug with curved handle on the rack with angular body, and release the smooth white mug with curved handle once it holds.", + "Direct the arm to the medium white mug with handle, grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle clear, move to the angled rack with long and short rods, hang the medium white mug with handle on the angled rack with long and short rods, release the grip.", + "Have the arm reach the basic mug in solid white, grasp the basic mug in solid white by edge contact point 0, lift the basic mug in solid white, move to the metal rack, hang the basic mug in solid white on the metal rack, then open the grip.", + "Grasp the smooth and plain drinking mug at edge contact point 0, lift the smooth and plain drinking mug from its spot, carry the smooth and plain drinking mug to the rack with two rods sticking out, hang the smooth and plain drinking mug on the rack with two rods sticking out, and release.", + "Grab the plain glossy mug at edge contact point 0, lift the plain glossy mug, move it to the metal rack, hook the plain glossy mug onto the metal rack, and release the plain glossy mug.", + "With the arm, grasp the smooth white mug with curved handle by edge contact point 0, lift and transport the smooth white mug with curved handle to the medium rack with protruding rods, hang the smooth white mug with curved handle on the medium rack with protruding rods, then let go.", + "Take the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle up, move the smooth white mug with curved handle in front of the dark gray rack, hang the smooth white mug with curved handle onto the dark gray rack, then release the smooth white mug with curved handle.", + "Grab the medium-sized white mug at edge contact point 0, pick it up, move it over to the angular rack with slanted support rod, hang the medium-sized white mug onto the angular rack with slanted support rod, and release the medium-sized white mug.", + "Move the arm toward the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the cylindrical mug made of ceramic onto the metallic angular rack with rod pair to hang, then release.", + "Grab the cylindrical mug made of ceramic at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the cylindrical mug made of ceramic onto the angular rack with slanted support rod so it hangs, then release the cylindrical mug made of ceramic.", + "Reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, carry the white mug to the medium rack with protruding rods, hang the white mug on the medium rack with protruding rods, then release the white mug.", + "Using the arm, secure the white mug with rounded handle by edge contact point 0, lift, align the white mug with rounded handle with the smooth rack, hang the white mug with rounded handle on the smooth rack, and let go.", + "Grasp the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, move it over to the metallic rack with smooth finish, hook the white mug with rounded handle onto the metallic rack with smooth finish, and release the white mug with rounded handle.", + "Take the basic mug in solid white by edge contact point 0, lift it from its spot, carry the basic mug in solid white to the smooth dark gray rack, hang the basic mug in solid white on the smooth dark gray rack, then release the basic mug in solid white.", + "Grasp the medium white mug with handle by edge contact point 0, lift the medium white mug with handle up, move the medium white mug with handle to the dark gray rack, hang the medium white mug with handle on the dark gray rack, and let go of the medium white mug with handle.", + "Get to the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug, bring it to the smooth rack, hang the hand-sized ceramic mug on the smooth rack, and release.", + "Approach the hand-sized ceramic mug, take hold of the hand-sized ceramic mug by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the hand-sized ceramic mug onto the rack with two rods sticking out, and let go.", + "Take the smooth and plain drinking mug by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the smooth and plain drinking mug onto the angular rack with slanted support rod so it hangs, then let go.", + "Guide the arm to the hand-sized ceramic mug, grip the hand-sized ceramic mug by edge contact point 0, pick it up, move to the dark gray angled rack, hang the hand-sized ceramic mug on the dark gray angled rack, and release.", + "Go to the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift it clear, align it with the rack with angular body, hang the cylindrical mug made of ceramic on the rack with angular body, and let go.", + "Take the white mug with rounded handle by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the white mug with rounded handle on the dark gray rack, and release your grip.", + "Use the arm to grab the white mug with rounded handle by edge contact point 0, lift the white mug with rounded handle, move over to the rack with two rods sticking out, hang the white mug with rounded handle on the rack with two rods sticking out, and release the white mug with rounded handle.", + "Direct the arm to grip the plain glossy mug at edge contact point 0, pick the plain glossy mug up, carry it to the angled rack with long and short rods, hang the plain glossy mug on the angled rack with long and short rods, and release.", + "With the arm, approach the smooth white mug with curved handle, grasp the smooth white mug with curved handle by edge contact point 0, lift the smooth white mug with curved handle, bring it to the smooth dark gray rack, hang the smooth white mug with curved handle on the smooth dark gray rack, then let go.", + "Hold the medium white mug with handle at edge contact point 0, lift it up, move toward the rack with two rods sticking out, place the medium white mug with handle onto the rack with two rods sticking out to hang, then let go.", + "Use the arm to grasp the smooth and plain drinking mug by edge contact point 0, lift the smooth and plain drinking mug, move toward the dark gray angled rack, hang the smooth and plain drinking mug on the dark gray angled rack, then release the smooth and plain drinking mug.", + "Using the arm, take the glossy mug for beverages at edge contact point 0, raise the glossy mug for beverages, move to the medium rack with protruding rods, hook the glossy mug for beverages onto the medium rack with protruding rods, and release the glossy mug for beverages.", + "Send the arm to the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift it, carry the cylindrical mug made of ceramic to the metallic angular rack with rod pair, hang the cylindrical mug made of ceramic on the metallic angular rack with rod pair, and release the cylindrical mug made of ceramic.", + "Have the arm grasp the glossy mug for beverages by edge contact point 0, lift the glossy mug for beverages, bring it to the angular rack with slanted support rod, hang the glossy mug for beverages from the angular rack with slanted support rod, then release.", + "Hold the ceramic mug using edge contact point 0, lift the ceramic mug up, bring the ceramic mug to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, then release.", + "Grasp the cylindrical mug made of ceramic by edge contact point 0, lift the cylindrical mug made of ceramic, bring the cylindrical mug made of ceramic to the angled rack with long and short rods, set the cylindrical mug made of ceramic onto the angled rack with long and short rods to hang, and release the cylindrical mug made of ceramic.", + "Guide the arm to the medium-sized white mug, grip the medium-sized white mug at edge contact point 0, lift the medium-sized white mug, align the medium-sized white mug with the metallic angular rack with rod pair, hang the medium-sized white mug on the metallic angular rack with rod pair, release the medium-sized white mug.", + "Move the arm toward the basic mug in solid white, grasp the basic mug in solid white at edge contact point 0, lift the basic mug in solid white, carry the basic mug in solid white to the rack with two rods sticking out, hang the basic mug in solid white on the rack with two rods sticking out, release the basic mug in solid white.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the smooth rack, hang the ceramic mug on the smooth rack, release the ceramic mug.", + "Reach for the hand-sized ceramic mug, grasp the hand-sized ceramic mug by edge contact point 0, lift the hand-sized ceramic mug clear, place the hand-sized ceramic mug onto the smooth rack to hang, then release the hand-sized ceramic mug.", + "With the arm, take hold of the hand-sized ceramic mug by edge contact point 0, pick it up, bring it to the dark gray rack, hang the hand-sized ceramic mug on the dark gray rack, then release.", + "Bring the arm to the smooth and plain drinking mug, grasp the smooth and plain drinking mug by edge contact point 0, lift it, move to the smooth dark gray rack, hang the smooth and plain drinking mug on the smooth dark gray rack, then let go.", + "Grab the medium-sized white mug at edge contact point 0, lift it, bring it to the angular rack with slanted support rod, hang the medium-sized white mug on the angular rack with slanted support rod, then release the grip.", + "With the arm, take the medium-sized white mug by edge contact point 0, lift the medium-sized white mug clear, move to the smooth dark gray rack, hook the medium-sized white mug onto the smooth dark gray rack, then open the grip.", + "With the arm, reach the cylindrical mug made of ceramic, grasp the cylindrical mug made of ceramic by edge contact point 0, lift, align it to the smooth rack, hang the cylindrical mug made of ceramic on the smooth rack, then release the cylindrical mug made of ceramic.", + "Pick up the white mug by edge contact point 0, move the white mug to the metal rack, hang the white mug on the metal rack, and release the white mug once it holds.", + "Direct the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug clear, move to the metal rack, hang the medium-sized white mug on the metal rack, release the grip.", + "Have the arm reach the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, move to the smooth rack, hang the medium-sized white mug on the smooth rack, then open the grip.", + "Grasp the white mug at edge contact point 0, lift the white mug from its spot, carry the white mug to the dark gray angled rack, hang the white mug on the dark gray angled rack, and release.", + "Grab the glossy mug for beverages at edge contact point 0, lift the glossy mug for beverages, move it to the metallic angular rack with rod pair, hook the glossy mug for beverages onto the metallic angular rack with rod pair, and release the glossy mug for beverages.", + "With the arm, grasp the medium-sized white mug by edge contact point 0, lift and transport the medium-sized white mug to the metal rack, hang the medium-sized white mug on the metal rack, then let go.", + "Take the medium-sized white mug by edge contact point 0, lift the medium-sized white mug up, move the medium-sized white mug in front of the angled rack with long and short rods, hang the medium-sized white mug onto the angled rack with long and short rods, then release the medium-sized white mug.", + "Grab the glossy mug for beverages at edge contact point 0, pick it up, move it over to the smooth rack, hang the glossy mug for beverages onto the smooth rack, and release the glossy mug for beverages.", + "Move the arm toward the white mug with rounded handle, grasp the white mug with rounded handle by edge contact point 0, lift it, travel to the angled rack with long and short rods, place the white mug with rounded handle onto the angled rack with long and short rods to hang, then release." + ], + "unseen": [ + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go of the white coffee mug.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release the white coffee mug.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release the medium mug for hot drinks.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the white coffee mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go of the medium mug for hot drinks.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release the white coffee mug.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, grab the simple white cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release the medium mug for hot drinks.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the simple white cylindrical mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go of the medium mug for hot drinks.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then release the medium mug for hot drinks.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release the white coffee mug.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go of the white coffee mug.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release the white coffee mug.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, and let go of the simple white cylindrical mug.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release the medium mug for hot drinks.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, bring it to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, and let go.", + "Reach to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then release.", + "Grab the white coffee mug by edge contact point 0, lift the white coffee mug, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go of the white coffee mug.", + "Move the arm to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, bring the medium mug for hot drinks to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, then release the medium mug for hot drinks.", + "Grasp the medium mug for hot drinks by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the simple white cylindrical mug on the dark gray rack with flat back, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and let go.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the simple white cylindrical mug on the dark gray rack with flat back, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and let go of the simple white cylindrical mug.", + "Move the arm to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring the white coffee mug to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then release the white coffee mug.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and release.", + "Move to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, bring it to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and let go.", + "Reach to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the white coffee mug on the medium-sized rack, then release.", + "Grab the simple white cylindrical mug by edge contact point 0, lift the simple white cylindrical mug, carry it over to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, and let go of the simple white cylindrical mug.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Grasp the simple white cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the simple white cylindrical mug on the medium-sized rack, and release.", + "Move to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the medium mug for hot drinks on the dark gray rack with flat back, then let go.", + "Using the arm, grab the white coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the white coffee mug on the medium-sized rack, and let go.", + "Reach to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release.", + "Grab the medium mug for hot drinks by edge contact point 0, lift the medium mug for hot drinks, carry it over to the rack with straight and slanted rods, hang the medium mug for hot drinks on the rack with straight and slanted rods, and let go of the medium mug for hot drinks.", + "Move the arm to the simple white cylindrical mug, grasp the simple white cylindrical mug by edge contact point 0, lift it, bring the simple white cylindrical mug to the rack with straight and slanted rods, hang the simple white cylindrical mug on the rack with straight and slanted rods, then release the simple white cylindrical mug.", + "Grasp the white coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the white coffee mug on the rack with straight and slanted rods, and release.", + "Move to the medium mug for hot drinks, grasp the medium mug for hot drinks by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium mug for hot drinks on the medium-sized rack, then let go.", + "Using the arm, go to the white coffee mug, grasp the white coffee mug by edge contact point 0, lift the white coffee mug, bring it to the dark gray rack with flat back, hang the white coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the simple white cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the simple white cylindrical mug on the medium-sized rack, then let go.", + "Using the arm, grab the medium mug for hot drinks by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the medium mug for hot drinks on the dark gray rack with flat back, and let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode5.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..d7b13ed8ed115bb3e759f8bdeed0e38a2a00df25 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the mug with rounded base by edge contact point 0, move the mug with rounded base to the metallic angular rack with rod pair, hang the mug with rounded base on the metallic angular rack with rod pair, and release the mug with rounded base once it holds.", + "Take the cylindrical beige ceramic mug by edge contact point 0, lift it off the surface, move it to the metal rack, hang the cylindrical beige ceramic mug on the metal rack, and release your grip.", + "Direct the arm to the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift the mug with rounded base clear, move to the rack with angular body, hang the mug with rounded base on the rack with angular body, release the grip.", + "Have the arm grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, bring it to the angular rack with slanted support rod, hang the cylindrical beige ceramic mug from the angular rack with slanted support rod, then release.", + "Guide the arm to the mug with side handle, grip the mug with side handle by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the mug with side handle on the metallic angular rack with rod pair, and release.", + "Grab the smooth ceramic mug at edge contact point 0, raise it, guide it to the smooth rack, set the smooth ceramic mug onto the smooth rack so it hangs, then release the smooth ceramic mug.", + "Send the arm to the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift it, carry the beige mug used for drinks to the metal rack, hang the beige mug used for drinks on the metal rack, and release the beige mug used for drinks.", + "Get to the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle, bring it to the metal rack, hang the cylindrical coffee mug with handle on the metal rack, and release.", + "Have the arm reach the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, move to the smooth dark gray rack, hang the beige mug used for drinks on the smooth dark gray rack, then open the grip.", + "Hold the cylindrical beige ceramic mug using edge contact point 0, lift the cylindrical beige ceramic mug up, bring the cylindrical beige ceramic mug to the metallic rack with smooth finish, hang the cylindrical beige ceramic mug on the metallic rack with smooth finish, then release.", + "Using the arm, secure the smooth ceramic mug by edge contact point 0, lift, align the smooth ceramic mug with the dark gray rack, hang the smooth ceramic mug on the dark gray rack, and let go.", + "With the arm, grasp the mug with glossy beige finish by edge contact point 0, lift and transport the mug with glossy beige finish to the angular rack with slanted support rod, hang the mug with glossy beige finish on the angular rack with slanted support rod, then let go.", + "With the arm, take the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug clear, move to the smooth rack, hook the smooth ceramic mug onto the smooth rack, then open the grip.", + "Grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, move it over to the dark gray rack, hook the mug with glossy beige finish onto the dark gray rack, and release the mug with glossy beige finish.", + "Move the arm toward the mug with logo design on side, grasp the mug with logo design on side at edge contact point 0, lift the mug with logo design on side, carry the mug with logo design on side to the rack with angular body, hang the mug with logo design on side on the rack with angular body, release the mug with logo design on side.", + "Move the arm toward the mug with side handle, grasp the mug with side handle by edge contact point 0, lift it, travel to the dark gray rack, place the mug with side handle onto the dark gray rack to hang, then release.", + "Reach for the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo clear, place the ceramic mug with printed logo onto the angular rack with slanted support rod to hang, then release the ceramic mug with printed logo.", + "With the arm, approach the mug with round handle, grasp the mug with round handle by edge contact point 0, lift the mug with round handle, bring it to the metallic rack with smooth finish, hang the mug with round handle on the metallic rack with smooth finish, then let go.", + "Use the arm to grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move toward the angular rack with slanted support rod, hang the cylindrical beige ceramic mug on the angular rack with slanted support rod, then release the cylindrical beige ceramic mug.", + "Direct the arm to grip the mug with side handle at edge contact point 0, pick the mug with side handle up, carry it to the medium rack with protruding rods, hang the mug with side handle on the medium rack with protruding rods, and release.", + "Use the arm to grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, move over to the smooth rack, hang the smooth ceramic mug on the smooth rack, and release the smooth ceramic mug.", + "Grab the mug with glossy beige finish at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the mug with glossy beige finish on the angled rack with long and short rods, then release the grip.", + "Bring the arm to the mug with glossy beige finish, grasp the mug with glossy beige finish by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the mug with glossy beige finish on the metallic rack with smooth finish, then let go.", + "Go to the medium beige mug, grasp the medium beige mug by edge contact point 0, lift it clear, align it with the metallic rack with smooth finish, hang the medium beige mug on the metallic rack with smooth finish, and let go.", + "Approach the glossy beige ceramic drinking mug, take hold of the glossy beige ceramic drinking mug by edge contact point 0, raise it, bring it to the rack with two rods sticking out, hook the glossy beige ceramic drinking mug onto the rack with two rods sticking out, and let go.", + "Grab the medium beige mug at edge contact point 0, lift the medium beige mug, move it to the rack with two rods sticking out, hook the medium beige mug onto the rack with two rods sticking out, and release the medium beige mug.", + "Grasp the beige mug used for drinks at edge contact point 0, lift the beige mug used for drinks from its spot, carry the beige mug used for drinks to the metallic rack with smooth finish, hang the beige mug used for drinks on the metallic rack with smooth finish, and release.", + "Move the arm to the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift, carry to the smooth rack, hang the mug with logo design on side on the smooth rack, release the mug with logo design on side.", + "Reach the mug with round handle, grasp the mug with round handle by edge contact point 0, lift the mug with round handle, carry the mug with round handle to the metallic angular rack with rod pair, hang the mug with round handle on the metallic angular rack with rod pair, then release the mug with round handle.", + "Take the medium beige mug by edge contact point 0, lift it, bring it over to the rack with angular body, place the medium beige mug onto the rack with angular body so it hangs, then let go.", + "Guide the arm to the glossy beige ceramic drinking mug, grip the glossy beige ceramic drinking mug at edge contact point 0, lift the glossy beige ceramic drinking mug, align the glossy beige ceramic drinking mug with the dark gray angled rack, hang the glossy beige ceramic drinking mug on the dark gray angled rack, release the glossy beige ceramic drinking mug.", + "Hold the cylindrical coffee mug with handle at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the cylindrical coffee mug with handle onto the smooth dark gray rack to hang, then let go.", + "With the arm, reach the mug with rounded base, grasp the mug with rounded base by edge contact point 0, lift, align it to the metallic angular rack with rod pair, hang the mug with rounded base on the metallic angular rack with rod pair, then release the mug with rounded base.", + "Grab the ceramic mug with printed logo at edge contact point 0, pick it up, move it over to the metal rack, hang the ceramic mug with printed logo onto the metal rack, and release the ceramic mug with printed logo.", + "Grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug up, move the smooth ceramic mug to the smooth dark gray rack, hang the smooth ceramic mug on the smooth dark gray rack, and let go of the smooth ceramic mug.", + "Take the cylindrical beige ceramic mug by edge contact point 0, lift it from its spot, carry the cylindrical beige ceramic mug to the dark gray angled rack, hang the cylindrical beige ceramic mug on the dark gray angled rack, then release the cylindrical beige ceramic mug.", + "Grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle, bring the cylindrical coffee mug with handle to the rack with angular body, set the cylindrical coffee mug with handle onto the rack with angular body to hang, and release the cylindrical coffee mug with handle.", + "Take the mug with round handle by edge contact point 0, lift the mug with round handle up, move the mug with round handle in front of the medium rack with protruding rods, hang the mug with round handle onto the medium rack with protruding rods, then release the mug with round handle.", + "Using the arm, take the beige mug used for drinks at edge contact point 0, raise the beige mug used for drinks, move to the smooth rack, hook the beige mug used for drinks onto the smooth rack, and release the beige mug used for drinks.", + "With the arm, take hold of the glossy beige ceramic drinking mug by edge contact point 0, pick it up, bring it to the smooth rack, hang the glossy beige ceramic drinking mug on the smooth rack, then release.", + "Pick up the mug with rounded base by edge contact point 0, move the mug with rounded base to the metallic rack with smooth finish, hang the mug with rounded base on the metallic rack with smooth finish, and release the mug with rounded base once it holds.", + "Take the mug with side handle by edge contact point 0, lift it off the surface, move it to the smooth rack, hang the mug with side handle on the smooth rack, and release your grip.", + "Direct the arm to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug clear, move to the medium rack with protruding rods, hang the cylindrical beige ceramic mug on the medium rack with protruding rods, release the grip.", + "Have the arm grasp the mug with round handle by edge contact point 0, lift the mug with round handle, bring it to the medium rack with protruding rods, hang the mug with round handle from the medium rack with protruding rods, then release.", + "Guide the arm to the mug with round handle, grip the mug with round handle by edge contact point 0, pick it up, move to the dark gray angled rack, hang the mug with round handle on the dark gray angled rack, and release.", + "Grab the cylindrical coffee mug with handle at edge contact point 0, raise it, guide it to the angular rack with slanted support rod, set the cylindrical coffee mug with handle onto the angular rack with slanted support rod so it hangs, then release the cylindrical coffee mug with handle.", + "Send the arm to the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift it, carry the ceramic mug with printed logo to the rack with two rods sticking out, hang the ceramic mug with printed logo on the rack with two rods sticking out, and release the ceramic mug with printed logo.", + "Get to the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring it to the smooth dark gray rack, hang the medium beige mug on the smooth dark gray rack, and release.", + "Have the arm reach the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, move to the angled rack with long and short rods, hang the medium beige mug on the angled rack with long and short rods, then open the grip.", + "Hold the cylindrical beige ceramic mug using edge contact point 0, lift the cylindrical beige ceramic mug up, bring the cylindrical beige ceramic mug to the smooth dark gray rack, hang the cylindrical beige ceramic mug on the smooth dark gray rack, then release.", + "Using the arm, secure the cylindrical beige ceramic mug by edge contact point 0, lift, align the cylindrical beige ceramic mug with the rack with angular body, hang the cylindrical beige ceramic mug on the rack with angular body, and let go.", + "With the arm, grasp the mug with side handle by edge contact point 0, lift and transport the mug with side handle to the rack with two rods sticking out, hang the mug with side handle on the rack with two rods sticking out, then let go.", + "With the arm, take the mug with round handle by edge contact point 0, lift the mug with round handle clear, move to the rack with two rods sticking out, hook the mug with round handle onto the rack with two rods sticking out, then open the grip.", + "Grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side, move it over to the metallic angular rack with rod pair, hook the mug with logo design on side onto the metallic angular rack with rod pair, and release the mug with logo design on side.", + "Move the arm toward the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle at edge contact point 0, lift the cylindrical coffee mug with handle, carry the cylindrical coffee mug with handle to the smooth dark gray rack, hang the cylindrical coffee mug with handle on the smooth dark gray rack, release the cylindrical coffee mug with handle.", + "Move the arm toward the medium beige mug, grasp the medium beige mug by edge contact point 0, lift it, travel to the metal rack, place the medium beige mug onto the metal rack to hang, then release.", + "Reach for the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug clear, place the smooth ceramic mug onto the angled rack with long and short rods to hang, then release the smooth ceramic mug.", + "With the arm, approach the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks, bring it to the medium rack with protruding rods, hang the beige mug used for drinks on the medium rack with protruding rods, then let go.", + "Use the arm to grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, move toward the metallic rack with smooth finish, hang the cylindrical beige ceramic mug on the metallic rack with smooth finish, then release the cylindrical beige ceramic mug.", + "Direct the arm to grip the mug with glossy beige finish at edge contact point 0, pick the mug with glossy beige finish up, carry it to the smooth dark gray rack, hang the mug with glossy beige finish on the smooth dark gray rack, and release.", + "Use the arm to grab the mug with rounded base by edge contact point 0, lift the mug with rounded base, move over to the rack with two rods sticking out, hang the mug with rounded base on the rack with two rods sticking out, and release the mug with rounded base.", + "Grab the mug with glossy beige finish at edge contact point 0, lift it, bring it to the smooth dark gray rack, hang the mug with glossy beige finish on the smooth dark gray rack, then release the grip.", + "Bring the arm to the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift it, move to the metallic angular rack with rod pair, hang the cylindrical coffee mug with handle on the metallic angular rack with rod pair, then let go.", + "Go to the medium beige mug, grasp the medium beige mug by edge contact point 0, lift it clear, align it with the metal rack, hang the medium beige mug on the metal rack, and let go.", + "Approach the mug with round handle, take hold of the mug with round handle by edge contact point 0, raise it, bring it to the smooth rack, hook the mug with round handle onto the smooth rack, and let go.", + "Grab the mug with round handle at edge contact point 0, lift the mug with round handle, move it to the metal rack, hook the mug with round handle onto the metal rack, and release the mug with round handle.", + "Grasp the cylindrical coffee mug with handle at edge contact point 0, lift the cylindrical coffee mug with handle from its spot, carry the cylindrical coffee mug with handle to the rack with angular body, hang the cylindrical coffee mug with handle on the rack with angular body, and release.", + "Move the arm to the cylindrical beige ceramic mug, grasp the cylindrical beige ceramic mug by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the cylindrical beige ceramic mug on the angular rack with slanted support rod, release the cylindrical beige ceramic mug.", + "Reach the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, carry the medium beige mug to the metallic rack with smooth finish, hang the medium beige mug on the metallic rack with smooth finish, then release the medium beige mug.", + "Take the beige mug used for drinks by edge contact point 0, lift it, bring it over to the smooth dark gray rack, place the beige mug used for drinks onto the smooth dark gray rack so it hangs, then let go.", + "Guide the arm to the mug with rounded base, grip the mug with rounded base at edge contact point 0, lift the mug with rounded base, align the mug with rounded base with the metal rack, hang the mug with rounded base on the metal rack, release the mug with rounded base.", + "Hold the smooth ceramic mug at edge contact point 0, lift it up, move toward the angular rack with slanted support rod, place the smooth ceramic mug onto the angular rack with slanted support rod to hang, then let go.", + "With the arm, reach the glossy beige ceramic drinking mug, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the glossy beige ceramic drinking mug on the rack with two rods sticking out, then release the glossy beige ceramic drinking mug.", + "Grab the mug with round handle at edge contact point 0, pick it up, move it over to the dark gray angled rack, hang the mug with round handle onto the dark gray angled rack, and release the mug with round handle.", + "Grasp the glossy beige ceramic drinking mug by edge contact point 0, lift the glossy beige ceramic drinking mug up, move the glossy beige ceramic drinking mug to the rack with two rods sticking out, hang the glossy beige ceramic drinking mug on the rack with two rods sticking out, and let go of the glossy beige ceramic drinking mug.", + "Take the medium beige mug by edge contact point 0, lift it from its spot, carry the medium beige mug to the dark gray angled rack, hang the medium beige mug on the dark gray angled rack, then release the medium beige mug.", + "Grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, bring the mug with glossy beige finish to the smooth rack, set the mug with glossy beige finish onto the smooth rack to hang, and release the mug with glossy beige finish.", + "Take the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug up, move the smooth ceramic mug in front of the dark gray rack, hang the smooth ceramic mug onto the dark gray rack, then release the smooth ceramic mug.", + "Using the arm, take the smooth ceramic mug at edge contact point 0, raise the smooth ceramic mug, move to the angular rack with slanted support rod, hook the smooth ceramic mug onto the angular rack with slanted support rod, and release the smooth ceramic mug.", + "With the arm, take hold of the mug with logo design on side by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the mug with logo design on side on the smooth dark gray rack, then release.", + "Pick up the mug with rounded base by edge contact point 0, move the mug with rounded base to the smooth rack, hang the mug with rounded base on the smooth rack, and release the mug with rounded base once it holds.", + "Take the mug with rounded base by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the mug with rounded base on the angular rack with slanted support rod, and release your grip.", + "Direct the arm to the beige mug used for drinks, grasp the beige mug used for drinks by edge contact point 0, lift the beige mug used for drinks clear, move to the metal rack, hang the beige mug used for drinks on the metal rack, release the grip.", + "Have the arm grasp the cylindrical beige ceramic mug by edge contact point 0, lift the cylindrical beige ceramic mug, bring it to the dark gray angled rack, hang the cylindrical beige ceramic mug from the dark gray angled rack, then release.", + "Guide the arm to the mug with side handle, grip the mug with side handle by edge contact point 0, pick it up, move to the smooth rack, hang the mug with side handle on the smooth rack, and release.", + "Grab the cylindrical beige ceramic mug at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the cylindrical beige ceramic mug onto the rack with two rods sticking out so it hangs, then release the cylindrical beige ceramic mug.", + "Send the arm to the mug with side handle, grasp the mug with side handle by edge contact point 0, lift it, carry the mug with side handle to the smooth rack, hang the mug with side handle on the smooth rack, and release the mug with side handle.", + "Get to the medium beige mug, grasp the medium beige mug by edge contact point 0, lift the medium beige mug, bring it to the smooth rack, hang the medium beige mug on the smooth rack, and release.", + "Have the arm reach the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side, move to the dark gray angled rack, hang the mug with logo design on side on the dark gray angled rack, then open the grip.", + "Hold the smooth ceramic mug using edge contact point 0, lift the smooth ceramic mug up, bring the smooth ceramic mug to the metallic rack with smooth finish, hang the smooth ceramic mug on the metallic rack with smooth finish, then release.", + "Using the arm, secure the mug with round handle by edge contact point 0, lift, align the mug with round handle with the metallic rack with smooth finish, hang the mug with round handle on the metallic rack with smooth finish, and let go.", + "With the arm, grasp the glossy beige ceramic drinking mug by edge contact point 0, lift and transport the glossy beige ceramic drinking mug to the angular rack with slanted support rod, hang the glossy beige ceramic drinking mug on the angular rack with slanted support rod, then let go.", + "With the arm, take the ceramic mug with printed logo by edge contact point 0, lift the ceramic mug with printed logo clear, move to the dark gray angled rack, hook the ceramic mug with printed logo onto the dark gray angled rack, then open the grip.", + "Grasp the medium beige mug by edge contact point 0, lift the medium beige mug, move it over to the dark gray rack, hook the medium beige mug onto the dark gray rack, and release the medium beige mug.", + "Move the arm toward the smooth ceramic mug, grasp the smooth ceramic mug at edge contact point 0, lift the smooth ceramic mug, carry the smooth ceramic mug to the metallic angular rack with rod pair, hang the smooth ceramic mug on the metallic angular rack with rod pair, release the smooth ceramic mug.", + "Move the arm toward the ceramic mug with printed logo, grasp the ceramic mug with printed logo by edge contact point 0, lift it, travel to the smooth rack, place the ceramic mug with printed logo onto the smooth rack to hang, then release.", + "Reach for the cylindrical coffee mug with handle, grasp the cylindrical coffee mug with handle by edge contact point 0, lift the cylindrical coffee mug with handle clear, place the cylindrical coffee mug with handle onto the smooth dark gray rack to hang, then release the cylindrical coffee mug with handle.", + "With the arm, approach the mug with logo design on side, grasp the mug with logo design on side by edge contact point 0, lift the mug with logo design on side, bring it to the angled rack with long and short rods, hang the mug with logo design on side on the angled rack with long and short rods, then let go.", + "Use the arm to grasp the mug with glossy beige finish by edge contact point 0, lift the mug with glossy beige finish, move toward the smooth rack, hang the mug with glossy beige finish on the smooth rack, then release the mug with glossy beige finish.", + "Direct the arm to grip the smooth ceramic mug at edge contact point 0, pick the smooth ceramic mug up, carry it to the metal rack, hang the smooth ceramic mug on the metal rack, and release." + ], + "unseen": [ + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go of the ceramic mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and let go of the ceramic mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the ceramic mug on the medium-sized rack, then let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, then release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Grab the ceramic mug by edge contact point 0, lift the ceramic mug, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go of the ceramic mug.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Grasp the ceramic mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the ceramic mug on the dark gray rack with flat back, then let go.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the medium-sized rack, hang the beige mug on the medium-sized rack, then release the beige mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the beige coffee mug on the medium-sized rack, then let go.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Move the arm to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring the beige mug to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, then release the beige mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the beige mug on the medium-sized rack, then release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the dark gray rack with flat back, hang the ceramic mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the beige mug on the rack with straight and slanted rods, then let go.", + "Move to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Move the arm to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring the beige coffee mug to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release the beige coffee mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and release.", + "Using the arm, grab the beige coffee mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and let go of the beige coffee mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, go to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift the beige coffee mug, bring it to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and release.", + "Using the arm, grab the beige mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the medium-sized rack, hang the beige coffee mug on the medium-sized rack, and let go of the beige coffee mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the beige mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige mug on the dark gray rack with flat back, then let go.", + "Move to the beige mug, grasp the beige mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the beige mug on the medium-sized rack, then let go.", + "Reach to the beige mug, grasp the beige mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, then release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, then release the ceramic mug.", + "Using the arm, go to the beige mug, grasp the beige mug by edge contact point 0, lift the beige mug, bring it to the rack with straight and slanted rods, hang the beige mug on the rack with straight and slanted rods, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Grab the beige mug by edge contact point 0, lift the beige mug, carry it over to the dark gray rack with flat back, hang the beige mug on the dark gray rack with flat back, and let go of the beige mug.", + "Grasp the beige mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the beige mug on the medium-sized rack, and release.", + "Use the arm to grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Move to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then let go.", + "Reach to the beige coffee mug, grasp the beige coffee mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, then release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, bring the ceramic mug to the medium-sized rack, hang the ceramic mug on the medium-sized rack, then release the ceramic mug.", + "Using the arm, go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the medium-sized rack, hang the ceramic mug on the medium-sized rack, and release.", + "Using the arm, grab the ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the ceramic mug on the rack with straight and slanted rods, and let go.", + "Grab the beige coffee mug by edge contact point 0, lift the beige coffee mug, carry it over to the rack with straight and slanted rods, hang the beige coffee mug on the rack with straight and slanted rods, and let go of the beige coffee mug.", + "Grasp the beige coffee mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the beige coffee mug on the dark gray rack with flat back, and release.", + "Use the arm to grasp the ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the ceramic mug on the rack with straight and slanted rods, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode6.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..c99e743b1cc244cdc57edf0247c27cd1a3a6acc6 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the arm, take the light brown mug with handle at edge contact point 0, raise the light brown mug with handle, move to the smooth rack, hook the light brown mug with handle onto the smooth rack, and release the light brown mug with handle.", + "Guide the arm to the light brown mug with handle, grip the light brown mug with handle at edge contact point 0, lift the light brown mug with handle, align the light brown mug with handle with the metallic angular rack with rod pair, hang the light brown mug with handle on the metallic angular rack with rod pair, release the light brown mug with handle.", + "Get to the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body, bring it to the metallic angular rack with rod pair, hang the drinking mug with smooth body on the metallic angular rack with rod pair, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, release the ceramic mug.", + "Move the arm toward the brown mug, grasp the brown mug at edge contact point 0, lift the brown mug, carry the brown mug to the metal rack, hang the brown mug on the metal rack, release the brown mug.", + "Direct the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, release the grip.", + "Approach the mug with curved handle, take hold of the mug with curved handle by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the mug with curved handle onto the angled rack with long and short rods, and let go.", + "Take the drinking mug with smooth body by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the drinking mug with smooth body on the rack with angular body, and release your grip.", + "Use the arm to grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, move toward the dark gray rack, hang the mug for holding liquid on the dark gray rack, then release the mug for holding liquid.", + "Grab the brown mug at edge contact point 0, raise it, guide it to the metal rack, set the brown mug onto the metal rack so it hangs, then release the brown mug.", + "Direct the arm to grip the brown mug for drinking at edge contact point 0, pick the brown mug for drinking up, carry it to the smooth dark gray rack, hang the brown mug for drinking on the smooth dark gray rack, and release.", + "Grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug, move it over to the smooth rack, hook the light brown cylindrical mug onto the smooth rack, and release the light brown cylindrical mug.", + "Take the light brown mug by edge contact point 0, lift it from its spot, carry the light brown mug to the dark gray rack, hang the light brown mug on the dark gray rack, then release the light brown mug.", + "Grab the light brown mug at edge contact point 0, pick it up, move it over to the rack with two rods sticking out, hang the light brown mug onto the rack with two rods sticking out, and release the light brown mug.", + "Take the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug up, move the light brown cylindrical mug in front of the dark gray angled rack, hang the light brown cylindrical mug onto the dark gray angled rack, then release the light brown cylindrical mug.", + "Have the arm grasp the light brown mug by edge contact point 0, lift the light brown mug, bring it to the metallic rack with smooth finish, hang the light brown mug from the metallic rack with smooth finish, then release.", + "Use the arm to grab the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, move over to the metallic rack with smooth finish, hang the mug for holding liquid on the metallic rack with smooth finish, and release the mug for holding liquid.", + "Hold the light brown mug at edge contact point 0, lift it up, move toward the smooth dark gray rack, place the light brown mug onto the smooth dark gray rack to hang, then let go.", + "Guide the arm to the brown medium-sized ceramic mug, grip the brown medium-sized ceramic mug by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the brown medium-sized ceramic mug on the medium rack with protruding rods, and release.", + "With the arm, take hold of the mug for holding liquid by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the mug for holding liquid on the smooth dark gray rack, then release.", + "With the arm, approach the drinking mug with smooth body, grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body, bring it to the metal rack, hang the drinking mug with smooth body on the metal rack, then let go.", + "Have the arm reach the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, move to the angled rack with long and short rods, hang the light brown mug with handle on the angled rack with long and short rods, then open the grip.", + "Reach for the mug with curved handle, grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle clear, place the mug with curved handle onto the smooth rack to hang, then release the mug with curved handle.", + "Grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug up, move the light brown cylindrical mug to the rack with two rods sticking out, hang the light brown cylindrical mug on the rack with two rods sticking out, and let go of the light brown cylindrical mug.", + "With the arm, take the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug clear, move to the metallic rack with smooth finish, hook the hand-held ceramic mug onto the metallic rack with smooth finish, then open the grip.", + "With the arm, grasp the drinking mug with smooth body by edge contact point 0, lift and transport the drinking mug with smooth body to the rack with two rods sticking out, hang the drinking mug with smooth body on the rack with two rods sticking out, then let go.", + "Move the arm toward the light brown cylindrical mug, grasp the light brown cylindrical mug by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the light brown cylindrical mug onto the metallic angular rack with rod pair to hang, then release.", + "Hold the brown mug for drinking using edge contact point 0, lift the brown mug for drinking up, bring the brown mug for drinking to the smooth rack, hang the brown mug for drinking on the smooth rack, then release.", + "Grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle, bring the mug with curved handle to the smooth rack, set the mug with curved handle onto the smooth rack to hang, and release the mug with curved handle.", + "With the arm, reach the mug with curved handle, grasp the mug with curved handle by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the mug with curved handle on the angular rack with slanted support rod, then release the mug with curved handle.", + "Pick up the medium-sized mug by edge contact point 0, move the medium-sized mug to the angled rack with long and short rods, hang the medium-sized mug on the angled rack with long and short rods, and release the medium-sized mug once it holds.", + "Grasp the brown medium-sized ceramic mug at edge contact point 0, lift the brown medium-sized ceramic mug from its spot, carry the brown medium-sized ceramic mug to the smooth dark gray rack, hang the brown medium-sized ceramic mug on the smooth dark gray rack, and release.", + "Grab the brown mug at edge contact point 0, lift the brown mug, move it to the angled rack with long and short rods, hook the brown mug onto the angled rack with long and short rods, and release the brown mug.", + "Using the arm, secure the light brown cylindrical mug by edge contact point 0, lift, align the light brown cylindrical mug with the angular rack with slanted support rod, hang the light brown cylindrical mug on the angular rack with slanted support rod, and let go.", + "Bring the arm to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift it, move to the dark gray angled rack, hang the medium-sized mug on the dark gray angled rack, then let go.", + "Reach the light brown mug with handle, grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, carry the light brown mug with handle to the rack with angular body, hang the light brown mug with handle on the rack with angular body, then release the light brown mug with handle.", + "Grab the mug for holding liquid at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the mug for holding liquid on the metallic rack with smooth finish, then release the grip.", + "Go to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, and let go.", + "Send the arm to the brown mug, grasp the brown mug by edge contact point 0, lift it, carry the brown mug to the smooth dark gray rack, hang the brown mug on the smooth dark gray rack, and release the brown mug.", + "Take the brown mug by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the brown mug onto the dark gray angled rack so it hangs, then let go.", + "Using the arm, take the drinking mug with smooth body at edge contact point 0, raise the drinking mug with smooth body, move to the smooth dark gray rack, hook the drinking mug with smooth body onto the smooth dark gray rack, and release the drinking mug with smooth body.", + "Guide the arm to the mug for holding liquid, grip the mug for holding liquid at edge contact point 0, lift the mug for holding liquid, align the mug for holding liquid with the smooth dark gray rack, hang the mug for holding liquid on the smooth dark gray rack, release the mug for holding liquid.", + "Get to the medium-sized mug, grasp the medium-sized mug by edge contact point 0, lift the medium-sized mug, bring it to the smooth dark gray rack, hang the medium-sized mug on the smooth dark gray rack, and release.", + "Move the arm to the brown mug, grasp the brown mug by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the brown mug on the metallic angular rack with rod pair, release the brown mug.", + "Move the arm toward the mug for holding liquid, grasp the mug for holding liquid at edge contact point 0, lift the mug for holding liquid, carry the mug for holding liquid to the dark gray rack, hang the mug for holding liquid on the dark gray rack, release the mug for holding liquid.", + "Direct the arm to the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug clear, move to the dark gray angled rack, hang the hand-held ceramic mug on the dark gray angled rack, release the grip.", + "Approach the mug with curved handle, take hold of the mug with curved handle by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the mug with curved handle onto the metallic angular rack with rod pair, and let go.", + "Take the light brown cylindrical mug by edge contact point 0, lift it off the surface, move it to the dark gray rack, hang the light brown cylindrical mug on the dark gray rack, and release your grip.", + "Use the arm to grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, move toward the smooth dark gray rack, hang the mug for holding liquid on the smooth dark gray rack, then release the mug for holding liquid.", + "Grab the mug with curved handle at edge contact point 0, raise it, guide it to the dark gray angled rack, set the mug with curved handle onto the dark gray angled rack so it hangs, then release the mug with curved handle.", + "Direct the arm to grip the medium-sized mug at edge contact point 0, pick the medium-sized mug up, carry it to the metallic angular rack with rod pair, hang the medium-sized mug on the metallic angular rack with rod pair, and release.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, move it over to the angular rack with slanted support rod, hook the ceramic mug onto the angular rack with slanted support rod, and release the ceramic mug.", + "Take the brown mug by edge contact point 0, lift it from its spot, carry the brown mug to the rack with two rods sticking out, hang the brown mug on the rack with two rods sticking out, then release the brown mug.", + "Grab the light brown mug at edge contact point 0, pick it up, move it over to the smooth dark gray rack, hang the light brown mug onto the smooth dark gray rack, and release the light brown mug.", + "Take the brown mug by edge contact point 0, lift the brown mug up, move the brown mug in front of the medium rack with protruding rods, hang the brown mug onto the medium rack with protruding rods, then release the brown mug.", + "Have the arm grasp the drinking mug with smooth body by edge contact point 0, lift the drinking mug with smooth body, bring it to the smooth rack, hang the drinking mug with smooth body from the smooth rack, then release.", + "Use the arm to grab the light brown mug by edge contact point 0, lift the light brown mug, move over to the metal rack, hang the light brown mug on the metal rack, and release the light brown mug.", + "Hold the brown medium-sized ceramic mug at edge contact point 0, lift it up, move toward the angular rack with slanted support rod, place the brown medium-sized ceramic mug onto the angular rack with slanted support rod to hang, then let go.", + "Guide the arm to the brown medium-sized ceramic mug, grip the brown medium-sized ceramic mug by edge contact point 0, pick it up, move to the dark gray angled rack, hang the brown medium-sized ceramic mug on the dark gray angled rack, and release.", + "With the arm, take hold of the ceramic mug by edge contact point 0, pick it up, bring it to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, then release.", + "With the arm, approach the mug for holding liquid, grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, bring it to the rack with two rods sticking out, hang the mug for holding liquid on the rack with two rods sticking out, then let go.", + "Have the arm reach the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug, move to the angular rack with slanted support rod, hang the hand-held ceramic mug on the angular rack with slanted support rod, then open the grip.", + "Reach for the hand-held ceramic mug, grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug clear, place the hand-held ceramic mug onto the dark gray angled rack to hang, then release the hand-held ceramic mug.", + "Grasp the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug up, move the hand-held ceramic mug to the medium rack with protruding rods, hang the hand-held ceramic mug on the medium rack with protruding rods, and let go of the hand-held ceramic mug.", + "With the arm, take the hand-held ceramic mug by edge contact point 0, lift the hand-held ceramic mug clear, move to the smooth dark gray rack, hook the hand-held ceramic mug onto the smooth dark gray rack, then open the grip.", + "With the arm, grasp the drinking mug with smooth body by edge contact point 0, lift and transport the drinking mug with smooth body to the rack with two rods sticking out, hang the drinking mug with smooth body on the rack with two rods sticking out, then let go.", + "Move the arm toward the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift it, travel to the rack with two rods sticking out, place the brown mug for drinking onto the rack with two rods sticking out to hang, then release.", + "Hold the medium-sized mug using edge contact point 0, lift the medium-sized mug up, bring the medium-sized mug to the metallic angular rack with rod pair, hang the medium-sized mug on the metallic angular rack with rod pair, then release.", + "Grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, bring the light brown mug with handle to the medium rack with protruding rods, set the light brown mug with handle onto the medium rack with protruding rods to hang, and release the light brown mug with handle.", + "With the arm, reach the brown mug, grasp the brown mug by edge contact point 0, lift, align it to the dark gray rack, hang the brown mug on the dark gray rack, then release the brown mug.", + "Pick up the mug with curved handle by edge contact point 0, move the mug with curved handle to the rack with angular body, hang the mug with curved handle on the rack with angular body, and release the mug with curved handle once it holds.", + "Grasp the drinking mug with smooth body at edge contact point 0, lift the drinking mug with smooth body from its spot, carry the drinking mug with smooth body to the dark gray rack, hang the drinking mug with smooth body on the dark gray rack, and release.", + "Grab the ceramic mug at edge contact point 0, lift the ceramic mug, move it to the rack with angular body, hook the ceramic mug onto the rack with angular body, and release the ceramic mug.", + "Using the arm, secure the ceramic mug by edge contact point 0, lift, align the ceramic mug with the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, and let go.", + "Bring the arm to the brown mug for drinking, grasp the brown mug for drinking by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the brown mug for drinking on the metallic rack with smooth finish, then let go.", + "Reach the mug with curved handle, grasp the mug with curved handle by edge contact point 0, lift the mug with curved handle, carry the mug with curved handle to the angled rack with long and short rods, hang the mug with curved handle on the angled rack with long and short rods, then release the mug with curved handle.", + "Grab the light brown mug with handle at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the light brown mug with handle on the dark gray angled rack, then release the grip.", + "Go to the brown medium-sized ceramic mug, grasp the brown medium-sized ceramic mug by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the brown medium-sized ceramic mug on the angled rack with long and short rods, and let go.", + "Send the arm to the brown mug, grasp the brown mug by edge contact point 0, lift it, carry the brown mug to the metallic rack with smooth finish, hang the brown mug on the metallic rack with smooth finish, and release the brown mug.", + "Take the light brown mug by edge contact point 0, lift it, bring it over to the dark gray angled rack, place the light brown mug onto the dark gray angled rack so it hangs, then let go.", + "Using the arm, take the drinking mug with smooth body at edge contact point 0, raise the drinking mug with smooth body, move to the dark gray angled rack, hook the drinking mug with smooth body onto the dark gray angled rack, and release the drinking mug with smooth body.", + "Guide the arm to the hand-held ceramic mug, grip the hand-held ceramic mug at edge contact point 0, lift the hand-held ceramic mug, align the hand-held ceramic mug with the metallic rack with smooth finish, hang the hand-held ceramic mug on the metallic rack with smooth finish, release the hand-held ceramic mug.", + "Get to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the rack with angular body, hang the ceramic mug on the rack with angular body, and release.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, release the ceramic mug.", + "Move the arm toward the hand-held ceramic mug, grasp the hand-held ceramic mug at edge contact point 0, lift the hand-held ceramic mug, carry the hand-held ceramic mug to the metal rack, hang the hand-held ceramic mug on the metal rack, release the hand-held ceramic mug.", + "Direct the arm to the brown medium-sized ceramic mug, grasp the brown medium-sized ceramic mug by edge contact point 0, lift the brown medium-sized ceramic mug clear, move to the metal rack, hang the brown medium-sized ceramic mug on the metal rack, release the grip.", + "Approach the ceramic mug, take hold of the ceramic mug by edge contact point 0, raise it, bring it to the smooth dark gray rack, hook the ceramic mug onto the smooth dark gray rack, and let go.", + "Take the light brown mug with handle by edge contact point 0, lift it off the surface, move it to the metal rack, hang the light brown mug with handle on the metal rack, and release your grip.", + "Use the arm to grasp the mug for holding liquid by edge contact point 0, lift the mug for holding liquid, move toward the metallic rack with smooth finish, hang the mug for holding liquid on the metallic rack with smooth finish, then release the mug for holding liquid.", + "Grab the drinking mug with smooth body at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the drinking mug with smooth body onto the medium rack with protruding rods so it hangs, then release the drinking mug with smooth body.", + "Direct the arm to grip the ceramic mug at edge contact point 0, pick the ceramic mug up, carry it to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, and release.", + "Grasp the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, move it over to the angled rack with long and short rods, hook the light brown mug with handle onto the angled rack with long and short rods, and release the light brown mug with handle.", + "Take the brown medium-sized ceramic mug by edge contact point 0, lift it from its spot, carry the brown medium-sized ceramic mug to the metal rack, hang the brown medium-sized ceramic mug on the metal rack, then release the brown medium-sized ceramic mug.", + "Grab the hand-held ceramic mug at edge contact point 0, pick it up, move it over to the metal rack, hang the hand-held ceramic mug onto the metal rack, and release the hand-held ceramic mug.", + "Take the mug with curved handle by edge contact point 0, lift the mug with curved handle up, move the mug with curved handle in front of the rack with angular body, hang the mug with curved handle onto the rack with angular body, then release the mug with curved handle.", + "Have the arm grasp the light brown cylindrical mug by edge contact point 0, lift the light brown cylindrical mug, bring it to the angled rack with long and short rods, hang the light brown cylindrical mug from the angled rack with long and short rods, then release.", + "Use the arm to grab the light brown mug with handle by edge contact point 0, lift the light brown mug with handle, move over to the medium rack with protruding rods, hang the light brown mug with handle on the medium rack with protruding rods, and release the light brown mug with handle.", + "Hold the medium-sized mug at edge contact point 0, lift it up, move toward the dark gray rack, place the medium-sized mug onto the dark gray rack to hang, then let go.", + "Guide the arm to the brown medium-sized ceramic mug, grip the brown medium-sized ceramic mug by edge contact point 0, pick it up, move to the smooth dark gray rack, hang the brown medium-sized ceramic mug on the smooth dark gray rack, and release.", + "With the arm, take hold of the medium-sized mug by edge contact point 0, pick it up, bring it to the dark gray rack, hang the medium-sized mug on the dark gray rack, then release." + ], + "unseen": [ + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release the mug with smooth texture.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, and let go.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug on the rack with straight and slanted rods, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go of the mug with smooth texture.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release the mug with smooth texture.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and release.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release the smooth ceramic mug.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with smooth texture on the medium-sized rack, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, and let go of the mug with smooth texture.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then release the mug with smooth texture.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with smooth texture on the medium-sized rack, then let go.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release the smooth ceramic mug.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and release.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go.", + "Move to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the smooth ceramic mug on the medium-sized rack, then let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and let go of the cylindrical mug.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release the mug with smooth texture.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and release.", + "Reach to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug on the rack with straight and slanted rods, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release the smooth ceramic mug.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go of the smooth ceramic mug.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then release the mug with smooth texture.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and release.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with smooth texture on the rack with straight and slanted rods, then let go.", + "Grab the cylindrical mug by edge contact point 0, lift the cylindrical mug, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go of the cylindrical mug.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, then release the cylindrical mug.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release.", + "Grasp the cylindrical mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the cylindrical mug by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug on the dark gray rack with flat back, and let go.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the smooth ceramic mug on the rack with straight and slanted rods, then let go.", + "Grab the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, carry it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and let go of the mug with smooth texture.", + "Move the arm to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift it, bring the cylindrical mug to the rack with straight and slanted rods, hang the cylindrical mug on the rack with straight and slanted rods, then release the cylindrical mug.", + "Using the arm, go to the cylindrical mug, grasp the cylindrical mug by edge contact point 0, lift the cylindrical mug, bring it to the medium-sized rack, hang the cylindrical mug on the medium-sized rack, and release.", + "Grasp the smooth ceramic mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release.", + "Using the arm, grab the mug with smooth texture by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and let go.", + "Move to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with smooth texture by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with smooth texture on the dark gray rack with flat back, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and let go of the smooth ceramic mug.", + "Move the arm to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift it, bring the mug with smooth texture to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, then release the mug with smooth texture.", + "Using the arm, go to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, bring it to the medium-sized rack, hang the smooth ceramic mug on the medium-sized rack, and release.", + "Grasp the mug with smooth texture by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with smooth texture on the dark gray rack with flat back, and release.", + "Reach to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, then release.", + "Using the arm, grab the smooth ceramic mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the smooth ceramic mug on the rack with straight and slanted rods, and let go.", + "Move to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the cylindrical mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the cylindrical mug on the medium-sized rack, then let go.", + "Grab the smooth ceramic mug by edge contact point 0, lift the smooth ceramic mug, carry it over to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, and let go of the smooth ceramic mug.", + "Move the arm to the smooth ceramic mug, grasp the smooth ceramic mug by edge contact point 0, lift it, bring the smooth ceramic mug to the dark gray rack with flat back, hang the smooth ceramic mug on the dark gray rack with flat back, then release the smooth ceramic mug.", + "Using the arm, go to the mug with smooth texture, grasp the mug with smooth texture by edge contact point 0, lift the mug with smooth texture, bring it to the rack with straight and slanted rods, hang the mug with smooth texture on the rack with straight and slanted rods, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode7.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..016a747ddb26f2b6abba04a6b06f0368f9b0904b --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Guide the arm to the black mug glossy ceramic material, grip the black mug glossy ceramic material at edge contact point 0, lift the black mug glossy ceramic material, align the black mug glossy ceramic material with the metal rack, hang the black mug glossy ceramic material on the metal rack, release the black mug glossy ceramic material.", + "Use the arm to grab the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, move over to the rack with two rods sticking out, hang the mug with curved black handle on the rack with two rods sticking out, and release the mug with curved black handle.", + "Grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material up, move the black mug glossy ceramic material to the metallic angular rack with rod pair, hang the black mug glossy ceramic material on the metallic angular rack with rod pair, and let go of the black mug glossy ceramic material.", + "Bring the arm to the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift it, move to the angular rack with slanted support rod, hang the palm-sized mug glossy black body on the angular rack with slanted support rod, then let go.", + "Grab the drinking mug shiny black exterior at edge contact point 0, lift the drinking mug shiny black exterior, move it to the smooth dark gray rack, hook the drinking mug shiny black exterior onto the smooth dark gray rack, and release the drinking mug shiny black exterior.", + "Take the medium mug smooth rounded handle by edge contact point 0, lift it from its spot, carry the medium mug smooth rounded handle to the rack with two rods sticking out, hang the medium mug smooth rounded handle on the rack with two rods sticking out, then release the medium mug smooth rounded handle.", + "Reach for the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside clear, place the ceramic mug smooth outside onto the smooth dark gray rack to hang, then release the ceramic mug smooth outside.", + "Grasp the medium black mug with handle by edge contact point 0, lift the medium black mug with handle, move it over to the medium rack with protruding rods, hook the medium black mug with handle onto the medium rack with protruding rods, and release the medium black mug with handle.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the black mug glossy ceramic material onto the rack with two rods sticking out so it hangs, then let go.", + "Hold the medium black mug with handle using edge contact point 0, lift the medium black mug with handle up, bring the medium black mug with handle to the dark gray rack, hang the medium black mug with handle on the dark gray rack, then release.", + "Move the arm toward the medium black mug with handle, grasp the medium black mug with handle by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the medium black mug with handle onto the medium rack with protruding rods to hang, then release.", + "Go to the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift it clear, align it with the medium rack with protruding rods, hang the ceramic mug smooth outside on the medium rack with protruding rods, and let go.", + "Grab the medium mug smooth rounded handle at edge contact point 0, lift it, bring it to the dark gray rack, hang the medium mug smooth rounded handle on the dark gray rack, then release the grip.", + "Have the arm reach the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, move to the metallic angular rack with rod pair, hang the mug with curved black handle on the metallic angular rack with rod pair, then open the grip.", + "Reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, carry the glossy black mug medium-sized for drinking to the dark gray rack, hang the glossy black mug medium-sized for drinking on the dark gray rack, then release the glossy black mug medium-sized for drinking.", + "Direct the arm to grip the drinking mug shiny black exterior at edge contact point 0, pick the drinking mug shiny black exterior up, carry it to the dark gray rack, hang the drinking mug shiny black exterior on the dark gray rack, and release.", + "Guide the arm to the drinking mug shiny black exterior, grip the drinking mug shiny black exterior by edge contact point 0, pick it up, move to the metal rack, hang the drinking mug shiny black exterior on the metal rack, and release.", + "Pick up the ceramic mug smooth outside by edge contact point 0, move the ceramic mug smooth outside to the metal rack, hang the ceramic mug smooth outside on the metal rack, and release the ceramic mug smooth outside once it holds.", + "Move the arm to the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift, carry to the angular rack with slanted support rod, hang the cylindrical mug with black finish on the angular rack with slanted support rod, release the cylindrical mug with black finish.", + "Using the arm, take the black mug with rounded sturdy handle at edge contact point 0, raise the black mug with rounded sturdy handle, move to the dark gray rack, hook the black mug with rounded sturdy handle onto the dark gray rack, and release the black mug with rounded sturdy handle.", + "Move the arm toward the mug with curved black handle, grasp the mug with curved black handle at edge contact point 0, lift the mug with curved black handle, carry the mug with curved black handle to the angular rack with slanted support rod, hang the mug with curved black handle on the angular rack with slanted support rod, release the mug with curved black handle.", + "With the arm, grasp the medium mug smooth rounded handle by edge contact point 0, lift and transport the medium mug smooth rounded handle to the smooth rack, hang the medium mug smooth rounded handle on the smooth rack, then let go.", + "Approach the palm-sized mug glossy black body, take hold of the palm-sized mug glossy black body by edge contact point 0, raise it, bring it to the metallic angular rack with rod pair, hook the palm-sized mug glossy black body onto the metallic angular rack with rod pair, and let go.", + "Send the arm to the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, carry the glossy black mug medium-sized for drinking to the angular rack with slanted support rod, hang the glossy black mug medium-sized for drinking on the angular rack with slanted support rod, and release the glossy black mug medium-sized for drinking.", + "With the arm, reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift, align it to the rack with two rods sticking out, hang the glossy black mug medium-sized for drinking on the rack with two rods sticking out, then release the glossy black mug medium-sized for drinking.", + "Hold the mug with curved black handle at edge contact point 0, lift it up, move toward the smooth rack, place the mug with curved black handle onto the smooth rack to hang, then let go.", + "Have the arm grasp the palm-sized mug glossy black body by edge contact point 0, lift the palm-sized mug glossy black body, bring it to the dark gray rack, hang the palm-sized mug glossy black body from the dark gray rack, then release.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it off the surface, move it to the rack with two rods sticking out, hang the black mug glossy ceramic material on the rack with two rods sticking out, and release your grip.", + "Take the black mug by edge contact point 0, lift the black mug up, move the black mug in front of the rack with two rods sticking out, hang the black mug onto the rack with two rods sticking out, then release the black mug.", + "Grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, bring the glossy black mug medium-sized for drinking to the smooth rack, set the glossy black mug medium-sized for drinking onto the smooth rack to hang, and release the glossy black mug medium-sized for drinking.", + "Grasp the cylindrical mug with black finish at edge contact point 0, lift the cylindrical mug with black finish from its spot, carry the cylindrical mug with black finish to the metal rack, hang the cylindrical mug with black finish on the metal rack, and release.", + "With the arm, approach the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, bring it to the metallic angular rack with rod pair, hang the ceramic mug smooth outside on the metallic angular rack with rod pair, then let go.", + "Direct the arm to the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle clear, move to the rack with two rods sticking out, hang the medium mug smooth rounded handle on the rack with two rods sticking out, release the grip.", + "With the arm, take hold of the black mug glossy ceramic material by edge contact point 0, pick it up, bring it to the rack with angular body, hang the black mug glossy ceramic material on the rack with angular body, then release.", + "Get to the black mug with rounded sturdy handle, grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, bring it to the metallic angular rack with rod pair, hang the black mug with rounded sturdy handle on the metallic angular rack with rod pair, and release.", + "Grab the drinking mug shiny black exterior at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the drinking mug shiny black exterior onto the metallic rack with smooth finish, and release the drinking mug shiny black exterior.", + "Use the arm to grasp the black mug by edge contact point 0, lift the black mug, move toward the angular rack with slanted support rod, hang the black mug on the angular rack with slanted support rod, then release the black mug.", + "With the arm, take the black mug by edge contact point 0, lift the black mug clear, move to the dark gray rack, hook the black mug onto the dark gray rack, then open the grip.", + "Grab the cylindrical mug with black finish at edge contact point 0, raise it, guide it to the rack with two rods sticking out, set the cylindrical mug with black finish onto the rack with two rods sticking out so it hangs, then release the cylindrical mug with black finish.", + "Using the arm, secure the medium black mug with handle by edge contact point 0, lift, align the medium black mug with handle with the metallic angular rack with rod pair, hang the medium black mug with handle on the metallic angular rack with rod pair, and let go.", + "Guide the arm to the medium black mug with handle, grip the medium black mug with handle at edge contact point 0, lift the medium black mug with handle, align the medium black mug with handle with the angular rack with slanted support rod, hang the medium black mug with handle on the angular rack with slanted support rod, release the medium black mug with handle.", + "Use the arm to grab the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, move over to the dark gray rack, hang the ceramic mug smooth outside on the dark gray rack, and release the ceramic mug smooth outside.", + "Grasp the drinking mug shiny black exterior by edge contact point 0, lift the drinking mug shiny black exterior up, move the drinking mug shiny black exterior to the metallic rack with smooth finish, hang the drinking mug shiny black exterior on the metallic rack with smooth finish, and let go of the drinking mug shiny black exterior.", + "Bring the arm to the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the glossy black mug medium-sized for drinking on the metallic rack with smooth finish, then let go.", + "Grab the cylindrical mug with black finish at edge contact point 0, lift the cylindrical mug with black finish, move it to the angular rack with slanted support rod, hook the cylindrical mug with black finish onto the angular rack with slanted support rod, and release the cylindrical mug with black finish.", + "Take the cylindrical mug with black finish by edge contact point 0, lift it from its spot, carry the cylindrical mug with black finish to the metal rack, hang the cylindrical mug with black finish on the metal rack, then release the cylindrical mug with black finish.", + "Reach for the ceramic mug smooth outside, grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside clear, place the ceramic mug smooth outside onto the angular rack with slanted support rod to hang, then release the ceramic mug smooth outside.", + "Grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move it over to the dark gray angled rack, hook the cylindrical mug with black finish onto the dark gray angled rack, and release the cylindrical mug with black finish.", + "Take the cylindrical mug with black finish by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the cylindrical mug with black finish onto the rack with two rods sticking out so it hangs, then let go.", + "Hold the black mug with rounded sturdy handle using edge contact point 0, lift the black mug with rounded sturdy handle up, bring the black mug with rounded sturdy handle to the smooth rack, hang the black mug with rounded sturdy handle on the smooth rack, then release.", + "Move the arm toward the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the cylindrical mug with black finish onto the metallic angular rack with rod pair to hang, then release.", + "Go to the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift it clear, align it with the rack with angular body, hang the drinking mug shiny black exterior on the rack with angular body, and let go.", + "Grab the mug with curved black handle at edge contact point 0, lift it, bring it to the dark gray angled rack, hang the mug with curved black handle on the dark gray angled rack, then release the grip.", + "Have the arm reach the cylindrical mug with black finish, grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move to the angular rack with slanted support rod, hang the cylindrical mug with black finish on the angular rack with slanted support rod, then open the grip.", + "Reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, carry the glossy black mug medium-sized for drinking to the smooth rack, hang the glossy black mug medium-sized for drinking on the smooth rack, then release the glossy black mug medium-sized for drinking.", + "Direct the arm to grip the medium black mug with handle at edge contact point 0, pick the medium black mug with handle up, carry it to the medium rack with protruding rods, hang the medium black mug with handle on the medium rack with protruding rods, and release.", + "Guide the arm to the cylindrical mug with black finish, grip the cylindrical mug with black finish by edge contact point 0, pick it up, move to the medium rack with protruding rods, hang the cylindrical mug with black finish on the medium rack with protruding rods, and release.", + "Pick up the black ceramic mug by edge contact point 0, move the black ceramic mug to the metal rack, hang the black ceramic mug on the metal rack, and release the black ceramic mug once it holds.", + "Move the arm to the drinking mug shiny black exterior, grasp the drinking mug shiny black exterior by edge contact point 0, lift, carry to the medium rack with protruding rods, hang the drinking mug shiny black exterior on the medium rack with protruding rods, release the drinking mug shiny black exterior.", + "Using the arm, take the black mug at edge contact point 0, raise the black mug, move to the angled rack with long and short rods, hook the black mug onto the angled rack with long and short rods, and release the black mug.", + "Move the arm toward the black mug glossy ceramic material, grasp the black mug glossy ceramic material at edge contact point 0, lift the black mug glossy ceramic material, carry the black mug glossy ceramic material to the dark gray angled rack, hang the black mug glossy ceramic material on the dark gray angled rack, release the black mug glossy ceramic material.", + "With the arm, grasp the black mug with rounded sturdy handle by edge contact point 0, lift and transport the black mug with rounded sturdy handle to the medium rack with protruding rods, hang the black mug with rounded sturdy handle on the medium rack with protruding rods, then let go.", + "Approach the mug with curved black handle, take hold of the mug with curved black handle by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the mug with curved black handle onto the dark gray angled rack, and let go.", + "Send the arm to the palm-sized mug glossy black body, grasp the palm-sized mug glossy black body by edge contact point 0, lift it, carry the palm-sized mug glossy black body to the metal rack, hang the palm-sized mug glossy black body on the metal rack, and release the palm-sized mug glossy black body.", + "With the arm, reach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift, align it to the metal rack, hang the medium mug smooth rounded handle on the metal rack, then release the medium mug smooth rounded handle.", + "Hold the black mug glossy ceramic material at edge contact point 0, lift it up, move toward the metal rack, place the black mug glossy ceramic material onto the metal rack to hang, then let go.", + "Have the arm grasp the mug with curved black handle by edge contact point 0, lift the mug with curved black handle, bring it to the dark gray angled rack, hang the mug with curved black handle from the dark gray angled rack, then release.", + "Take the black mug with rounded sturdy handle by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the black mug with rounded sturdy handle on the smooth dark gray rack, and release your grip.", + "Take the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking up, move the glossy black mug medium-sized for drinking in front of the smooth rack, hang the glossy black mug medium-sized for drinking onto the smooth rack, then release the glossy black mug medium-sized for drinking.", + "Grasp the ceramic mug smooth outside by edge contact point 0, lift the ceramic mug smooth outside, bring the ceramic mug smooth outside to the metallic angular rack with rod pair, set the ceramic mug smooth outside onto the metallic angular rack with rod pair to hang, and release the ceramic mug smooth outside.", + "Grasp the black mug glossy ceramic material at edge contact point 0, lift the black mug glossy ceramic material from its spot, carry the black mug glossy ceramic material to the metallic angular rack with rod pair, hang the black mug glossy ceramic material on the metallic angular rack with rod pair, and release.", + "With the arm, approach the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, bring it to the smooth dark gray rack, hang the medium mug smooth rounded handle on the smooth dark gray rack, then let go.", + "Direct the arm to the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle clear, move to the angular rack with slanted support rod, hang the medium mug smooth rounded handle on the angular rack with slanted support rod, release the grip.", + "With the arm, take hold of the glossy black mug medium-sized for drinking by edge contact point 0, pick it up, bring it to the dark gray rack, hang the glossy black mug medium-sized for drinking on the dark gray rack, then release.", + "Get to the black mug, grasp the black mug by edge contact point 0, lift the black mug, bring it to the medium rack with protruding rods, hang the black mug on the medium rack with protruding rods, and release.", + "Grab the black mug with rounded sturdy handle at edge contact point 0, pick it up, move it over to the metallic rack with smooth finish, hang the black mug with rounded sturdy handle onto the metallic rack with smooth finish, and release the black mug with rounded sturdy handle.", + "Use the arm to grasp the black mug with rounded sturdy handle by edge contact point 0, lift the black mug with rounded sturdy handle, move toward the metallic angular rack with rod pair, hang the black mug with rounded sturdy handle on the metallic angular rack with rod pair, then release the black mug with rounded sturdy handle.", + "With the arm, take the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle clear, move to the rack with two rods sticking out, hook the medium mug smooth rounded handle onto the rack with two rods sticking out, then open the grip.", + "Grab the black mug with rounded sturdy handle at edge contact point 0, raise it, guide it to the angled rack with long and short rods, set the black mug with rounded sturdy handle onto the angled rack with long and short rods so it hangs, then release the black mug with rounded sturdy handle.", + "Using the arm, secure the ceramic mug smooth outside by edge contact point 0, lift, align the ceramic mug smooth outside with the smooth rack, hang the ceramic mug smooth outside on the smooth rack, and let go.", + "Guide the arm to the black ceramic mug, grip the black ceramic mug at edge contact point 0, lift the black ceramic mug, align the black ceramic mug with the dark gray angled rack, hang the black ceramic mug on the dark gray angled rack, release the black ceramic mug.", + "Use the arm to grab the medium mug smooth rounded handle by edge contact point 0, lift the medium mug smooth rounded handle, move over to the smooth rack, hang the medium mug smooth rounded handle on the smooth rack, and release the medium mug smooth rounded handle.", + "Grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking up, move the glossy black mug medium-sized for drinking to the metal rack, hang the glossy black mug medium-sized for drinking on the metal rack, and let go of the glossy black mug medium-sized for drinking.", + "Bring the arm to the mug with curved black handle, grasp the mug with curved black handle by edge contact point 0, lift it, move to the medium rack with protruding rods, hang the mug with curved black handle on the medium rack with protruding rods, then let go.", + "Grab the black mug with rounded sturdy handle at edge contact point 0, lift the black mug with rounded sturdy handle, move it to the smooth rack, hook the black mug with rounded sturdy handle onto the smooth rack, and release the black mug with rounded sturdy handle.", + "Take the black mug glossy ceramic material by edge contact point 0, lift it from its spot, carry the black mug glossy ceramic material to the metallic rack with smooth finish, hang the black mug glossy ceramic material on the metallic rack with smooth finish, then release the black mug glossy ceramic material.", + "Reach for the black ceramic mug, grasp the black ceramic mug by edge contact point 0, lift the black ceramic mug clear, place the black ceramic mug onto the metallic angular rack with rod pair to hang, then release the black ceramic mug.", + "Grasp the cylindrical mug with black finish by edge contact point 0, lift the cylindrical mug with black finish, move it over to the rack with two rods sticking out, hook the cylindrical mug with black finish onto the rack with two rods sticking out, and release the cylindrical mug with black finish.", + "Take the ceramic mug smooth outside by edge contact point 0, lift it, bring it over to the angled rack with long and short rods, place the ceramic mug smooth outside onto the angled rack with long and short rods so it hangs, then let go.", + "Hold the drinking mug shiny black exterior using edge contact point 0, lift the drinking mug shiny black exterior up, bring the drinking mug shiny black exterior to the angled rack with long and short rods, hang the drinking mug shiny black exterior on the angled rack with long and short rods, then release.", + "Move the arm toward the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the medium mug smooth rounded handle onto the angular rack with slanted support rod to hang, then release.", + "Go to the medium mug smooth rounded handle, grasp the medium mug smooth rounded handle by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the medium mug smooth rounded handle on the angular rack with slanted support rod, and let go.", + "Grab the drinking mug shiny black exterior at edge contact point 0, lift it, bring it to the rack with two rods sticking out, hang the drinking mug shiny black exterior on the rack with two rods sticking out, then release the grip.", + "Have the arm reach the glossy black mug medium-sized for drinking, grasp the glossy black mug medium-sized for drinking by edge contact point 0, lift the glossy black mug medium-sized for drinking, move to the dark gray angled rack, hang the glossy black mug medium-sized for drinking on the dark gray angled rack, then open the grip.", + "Reach the black mug glossy ceramic material, grasp the black mug glossy ceramic material by edge contact point 0, lift the black mug glossy ceramic material, carry the black mug glossy ceramic material to the smooth dark gray rack, hang the black mug glossy ceramic material on the smooth dark gray rack, then release the black mug glossy ceramic material.", + "Direct the arm to grip the black mug glossy ceramic material at edge contact point 0, pick the black mug glossy ceramic material up, carry it to the smooth rack, hang the black mug glossy ceramic material on the smooth rack, and release.", + "Guide the arm to the black mug glossy ceramic material, grip the black mug glossy ceramic material by edge contact point 0, pick it up, move to the smooth rack, hang the black mug glossy ceramic material on the smooth rack, and release.", + "Pick up the palm-sized mug glossy black body by edge contact point 0, move the palm-sized mug glossy black body to the dark gray angled rack, hang the palm-sized mug glossy black body on the dark gray angled rack, and release the palm-sized mug glossy black body once it holds.", + "Move the arm to the black mug, grasp the black mug by edge contact point 0, lift, carry to the metal rack, hang the black mug on the metal rack, release the black mug.", + "Using the arm, take the black mug with rounded sturdy handle at edge contact point 0, raise the black mug with rounded sturdy handle, move to the medium rack with protruding rods, hook the black mug with rounded sturdy handle onto the medium rack with protruding rods, and release the black mug with rounded sturdy handle." + ], + "unseen": [ + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go of the rounded mug with glossy shine.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then release the rounded mug with glossy shine.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Using the arm, go to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, bring it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release the rounded mug with glossy shine.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go of the cylindrical drinking mug black color.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release the mug for liquids black ceramic body.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go of the cylindrical drinking mug black color.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then let go.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go of the cylindrical drinking mug black color.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go of the cylindrical drinking mug black color.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug for liquids black ceramic body on the medium-sized rack, then let go.", + "Grab the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go of the mug for liquids black ceramic body.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release the mug for liquids black ceramic body.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug for liquids black ceramic body on the dark gray rack with flat back, then let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go of the rounded mug with glossy shine.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then release the cylindrical drinking mug black color.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug for liquids black ceramic body on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Move to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug for liquids black ceramic body by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the medium-sized rack, hang the rounded mug with glossy shine on the medium-sized rack, and let go of the rounded mug with glossy shine.", + "Using the arm, grab the mug for liquids black ceramic body by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and let go.", + "Move the arm to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring the mug for liquids black ceramic body to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, then release the mug for liquids black ceramic body.", + "Grasp the rounded mug with glossy shine by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Reach to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, then release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, then let go.", + "Using the arm, go to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift the mug for liquids black ceramic body, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, and release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the rounded mug with glossy shine on the dark gray rack with flat back, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and let go of the cylindrical drinking mug black color.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color.", + "Grasp the cylindrical drinking mug black color by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical drinking mug black color on the dark gray rack with flat back, and release.", + "Reach to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, then release.", + "Move to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and release.", + "Use the arm to grasp the rounded mug with glossy shine by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the rounded mug with glossy shine on the medium-sized rack, then let go.", + "Grab the cylindrical drinking mug black color by edge contact point 0, lift the cylindrical drinking mug black color, carry it over to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, and let go of the cylindrical drinking mug black color.", + "Using the arm, grab the cylindrical drinking mug black color by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical drinking mug black color on the medium-sized rack, and let go.", + "Move the arm to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift it, bring the rounded mug with glossy shine to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, then release the rounded mug with glossy shine.", + "Grasp the mug for liquids black ceramic body by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug for liquids black ceramic body on the rack with straight and slanted rods, and release.", + "Reach to the mug for liquids black ceramic body, grasp the mug for liquids black ceramic body by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug for liquids black ceramic body on the medium-sized rack, then release.", + "Move to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Using the arm, go to the rounded mug with glossy shine, grasp the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, bring it to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the cylindrical drinking mug black color by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then let go.", + "Grab the rounded mug with glossy shine by edge contact point 0, lift the rounded mug with glossy shine, carry it over to the rack with straight and slanted rods, hang the rounded mug with glossy shine on the rack with straight and slanted rods, and let go of the rounded mug with glossy shine.", + "Using the arm, grab the rounded mug with glossy shine by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the rounded mug with glossy shine on the dark gray rack with flat back, and let go.", + "Move the arm to the cylindrical drinking mug black color, grasp the cylindrical drinking mug black color by edge contact point 0, lift it, bring the cylindrical drinking mug black color to the rack with straight and slanted rods, hang the cylindrical drinking mug black color on the rack with straight and slanted rods, then release the cylindrical drinking mug black color." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode8.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..674e8b8db716989f144529a18442b6ad4e83c9aa --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the arm, take the smooth dark green mug by edge contact point 0, lift the smooth dark green mug clear, move to the metallic rack with smooth finish, hook the smooth dark green mug onto the metallic rack with smooth finish, then open the grip.", + "Use the arm to grab the ceramic mug by edge contact point 0, lift the ceramic mug, move over to the smooth rack, hang the ceramic mug on the smooth rack, and release the ceramic mug.", + "With the arm, approach the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, bring it to the medium rack with protruding rods, hang the medium-sized smooth green Starbucks mug on the medium rack with protruding rods, then let go.", + "Move the arm toward the green drinking mug, grasp the green drinking mug at edge contact point 0, lift the green drinking mug, carry the green drinking mug to the rack with two rods sticking out, hang the green drinking mug on the rack with two rods sticking out, release the green drinking mug.", + "Reach for the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug clear, place the Starbucks branded coffee mug onto the metal rack to hang, then release the Starbucks branded coffee mug.", + "Send the arm to the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift it, carry the Starbucks branded coffee mug to the rack with two rods sticking out, hang the Starbucks branded coffee mug on the rack with two rods sticking out, and release the Starbucks branded coffee mug.", + "Go to the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift it clear, align it with the rack with two rods sticking out, hang the smooth dark green mug on the rack with two rods sticking out, and let go.", + "Grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, bring the dark green ceramic cup to the dark gray angled rack, set the dark green ceramic cup onto the dark gray angled rack to hang, and release the dark green ceramic cup.", + "Take the medium mug with handle by edge contact point 0, lift it from its spot, carry the medium mug with handle to the smooth rack, hang the medium mug with handle on the smooth rack, then release the medium mug with handle.", + "Guide the arm to the logo mug, grip the logo mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the logo mug on the rack with two rods sticking out, and release.", + "Grab the starbucks green mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the starbucks green mug onto the smooth rack, and release the starbucks green mug.", + "Grab the medium mug with handle at edge contact point 0, lift it, bring it to the metallic angular rack with rod pair, hang the medium mug with handle on the metallic angular rack with rod pair, then release the grip.", + "Pick up the Starbucks branded coffee mug by edge contact point 0, move the Starbucks branded coffee mug to the angular rack with slanted support rod, hang the Starbucks branded coffee mug on the angular rack with slanted support rod, and release the Starbucks branded coffee mug once it holds.", + "Have the arm grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, bring it to the medium rack with protruding rods, hang the dark green ceramic cup from the medium rack with protruding rods, then release.", + "Move the arm toward the green mug, grasp the green mug by edge contact point 0, lift it, travel to the dark gray angled rack, place the green mug onto the dark gray angled rack to hang, then release.", + "Grasp the starbucks green mug at edge contact point 0, lift the starbucks green mug from its spot, carry the starbucks green mug to the medium rack with protruding rods, hang the starbucks green mug on the medium rack with protruding rods, and release.", + "Grasp the green mug by edge contact point 0, lift the green mug, move it over to the dark gray rack, hook the green mug onto the dark gray rack, and release the green mug.", + "Approach the green mug, take hold of the green mug by edge contact point 0, raise it, bring it to the angled rack with long and short rods, hook the green mug onto the angled rack with long and short rods, and let go.", + "Take the ceramic mug for hot drinks by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the ceramic mug for hot drinks on the medium rack with protruding rods, and release your grip.", + "Direct the arm to grip the ceramic mug at edge contact point 0, pick the ceramic mug up, carry it to the metal rack, hang the ceramic mug on the metal rack, and release.", + "Use the arm to grasp the green mug by edge contact point 0, lift the green mug, move toward the medium rack with protruding rods, hang the green mug on the medium rack with protruding rods, then release the green mug.", + "With the arm, take hold of the medium mug with handle by edge contact point 0, pick it up, bring it to the metallic rack with smooth finish, hang the medium mug with handle on the metallic rack with smooth finish, then release.", + "Take the medium-sized smooth green Starbucks mug by edge contact point 0, lift it, bring it over to the rack with two rods sticking out, place the medium-sized smooth green Starbucks mug onto the rack with two rods sticking out so it hangs, then let go.", + "Grab the ceramic mug at edge contact point 0, raise it, guide it to the rack with angular body, set the ceramic mug onto the rack with angular body so it hangs, then release the ceramic mug.", + "Grab the starbucks green mug at edge contact point 0, lift the starbucks green mug, move it to the rack with angular body, hook the starbucks green mug onto the rack with angular body, and release the starbucks green mug.", + "Have the arm reach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, move to the dark gray rack, hang the round mug with one handle on the dark gray rack, then open the grip.", + "Hold the Starbucks branded coffee mug at edge contact point 0, lift it up, move toward the metal rack, place the Starbucks branded coffee mug onto the metal rack to hang, then let go.", + "Using the arm, secure the dark green ceramic cup by edge contact point 0, lift, align the dark green ceramic cup with the smooth dark gray rack, hang the dark green ceramic cup on the smooth dark gray rack, and let go.", + "Take the logo mug by edge contact point 0, lift the logo mug up, move the logo mug in front of the dark gray angled rack, hang the logo mug onto the dark gray angled rack, then release the logo mug.", + "Guide the arm to the green drinking mug, grip the green drinking mug at edge contact point 0, lift the green drinking mug, align the green drinking mug with the angular rack with slanted support rod, hang the green drinking mug on the angular rack with slanted support rod, release the green drinking mug.", + "With the arm, reach the logo mug, grasp the logo mug by edge contact point 0, lift, align it to the angular rack with slanted support rod, hang the logo mug on the angular rack with slanted support rod, then release the logo mug.", + "Direct the arm to the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle clear, move to the smooth dark gray rack, hang the round mug with one handle on the smooth dark gray rack, release the grip.", + "With the arm, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift and transport the medium-sized smooth green Starbucks mug to the dark gray angled rack, hang the medium-sized smooth green Starbucks mug on the dark gray angled rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the dark gray rack, hang the ceramic mug on the dark gray rack, release the ceramic mug.", + "Hold the smooth dark green mug using edge contact point 0, lift the smooth dark green mug up, bring the smooth dark green mug to the metallic rack with smooth finish, hang the smooth dark green mug on the metallic rack with smooth finish, then release.", + "Bring the arm to the green mug, grasp the green mug by edge contact point 0, lift it, move to the metallic rack with smooth finish, hang the green mug on the metallic rack with smooth finish, then let go.", + "Get to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the metallic rack with smooth finish, hang the ceramic mug on the metallic rack with smooth finish, and release.", + "Grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug up, move the medium-sized smooth green Starbucks mug to the dark gray angled rack, hang the medium-sized smooth green Starbucks mug on the dark gray angled rack, and let go of the medium-sized smooth green Starbucks mug.", + "Reach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, carry the round mug with one handle to the metal rack, hang the round mug with one handle on the metal rack, then release the round mug with one handle.", + "Using the arm, take the round mug with one handle at edge contact point 0, raise the round mug with one handle, move to the smooth rack, hook the round mug with one handle onto the smooth rack, and release the round mug with one handle.", + "With the arm, take the ceramic mug by edge contact point 0, lift the ceramic mug clear, move to the smooth rack, hook the ceramic mug onto the smooth rack, then open the grip.", + "Use the arm to grab the round mug with one handle by edge contact point 0, lift the round mug with one handle, move over to the rack with angular body, hang the round mug with one handle on the rack with angular body, and release the round mug with one handle.", + "With the arm, approach the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift the round mug with one handle, bring it to the medium rack with protruding rods, hang the round mug with one handle on the medium rack with protruding rods, then let go.", + "Move the arm toward the dark green ceramic cup, grasp the dark green ceramic cup at edge contact point 0, lift the dark green ceramic cup, carry the dark green ceramic cup to the smooth dark gray rack, hang the dark green ceramic cup on the smooth dark gray rack, release the dark green ceramic cup.", + "Reach for the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift the smooth dark green mug clear, place the smooth dark green mug onto the metallic angular rack with rod pair to hang, then release the smooth dark green mug.", + "Send the arm to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift it, carry the ceramic mug for hot drinks to the smooth dark gray rack, hang the ceramic mug for hot drinks on the smooth dark gray rack, and release the ceramic mug for hot drinks.", + "Go to the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift it clear, align it with the metal rack, hang the medium-sized smooth green Starbucks mug on the metal rack, and let go.", + "Grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, bring the medium-sized smooth green Starbucks mug to the metallic angular rack with rod pair, set the medium-sized smooth green Starbucks mug onto the metallic angular rack with rod pair to hang, and release the medium-sized smooth green Starbucks mug.", + "Take the smooth dark green mug by edge contact point 0, lift it from its spot, carry the smooth dark green mug to the metal rack, hang the smooth dark green mug on the metal rack, then release the smooth dark green mug.", + "Guide the arm to the green drinking mug, grip the green drinking mug by edge contact point 0, pick it up, move to the smooth rack, hang the green drinking mug on the smooth rack, and release.", + "Grab the green drinking mug at edge contact point 0, pick it up, move it over to the metallic angular rack with rod pair, hang the green drinking mug onto the metallic angular rack with rod pair, and release the green drinking mug.", + "Grab the green drinking mug at edge contact point 0, lift it, bring it to the dark gray rack, hang the green drinking mug on the dark gray rack, then release the grip.", + "Pick up the medium-sized smooth green Starbucks mug by edge contact point 0, move the medium-sized smooth green Starbucks mug to the dark gray angled rack, hang the medium-sized smooth green Starbucks mug on the dark gray angled rack, and release the medium-sized smooth green Starbucks mug once it holds.", + "Have the arm grasp the logo mug by edge contact point 0, lift the logo mug, bring it to the angled rack with long and short rods, hang the logo mug from the angled rack with long and short rods, then release.", + "Move the arm toward the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, travel to the metallic rack with smooth finish, place the ceramic mug onto the metallic rack with smooth finish to hang, then release.", + "Grasp the ceramic mug for hot drinks at edge contact point 0, lift the ceramic mug for hot drinks from its spot, carry the ceramic mug for hot drinks to the metallic rack with smooth finish, hang the ceramic mug for hot drinks on the metallic rack with smooth finish, and release.", + "Grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move it over to the dark gray rack, hook the dark green ceramic cup onto the dark gray rack, and release the dark green ceramic cup.", + "Approach the ceramic mug, take hold of the ceramic mug by edge contact point 0, raise it, bring it to the smooth dark gray rack, hook the ceramic mug onto the smooth dark gray rack, and let go.", + "Take the round mug with one handle by edge contact point 0, lift it off the surface, move it to the medium rack with protruding rods, hang the round mug with one handle on the medium rack with protruding rods, and release your grip.", + "Direct the arm to grip the medium mug with handle at edge contact point 0, pick the medium mug with handle up, carry it to the smooth dark gray rack, hang the medium mug with handle on the smooth dark gray rack, and release.", + "Use the arm to grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup, move toward the metallic angular rack with rod pair, hang the dark green ceramic cup on the metallic angular rack with rod pair, then release the dark green ceramic cup.", + "With the arm, take hold of the ceramic mug for hot drinks by edge contact point 0, pick it up, bring it to the medium rack with protruding rods, hang the ceramic mug for hot drinks on the medium rack with protruding rods, then release.", + "Take the logo mug by edge contact point 0, lift it, bring it over to the angular rack with slanted support rod, place the logo mug onto the angular rack with slanted support rod so it hangs, then let go.", + "Grab the starbucks green mug at edge contact point 0, raise it, guide it to the metallic angular rack with rod pair, set the starbucks green mug onto the metallic angular rack with rod pair so it hangs, then release the starbucks green mug.", + "Grab the ceramic mug for hot drinks at edge contact point 0, lift the ceramic mug for hot drinks, move it to the dark gray rack, hook the ceramic mug for hot drinks onto the dark gray rack, and release the ceramic mug for hot drinks.", + "Have the arm reach the medium-sized smooth green Starbucks mug, grasp the medium-sized smooth green Starbucks mug by edge contact point 0, lift the medium-sized smooth green Starbucks mug, move to the smooth dark gray rack, hang the medium-sized smooth green Starbucks mug on the smooth dark gray rack, then open the grip.", + "Hold the green mug at edge contact point 0, lift it up, move toward the dark gray rack, place the green mug onto the dark gray rack to hang, then let go.", + "Using the arm, secure the medium mug with handle by edge contact point 0, lift, align the medium mug with handle with the dark gray rack, hang the medium mug with handle on the dark gray rack, and let go.", + "Take the starbucks green mug by edge contact point 0, lift the starbucks green mug up, move the starbucks green mug in front of the angled rack with long and short rods, hang the starbucks green mug onto the angled rack with long and short rods, then release the starbucks green mug.", + "Guide the arm to the round mug with one handle, grip the round mug with one handle at edge contact point 0, lift the round mug with one handle, align the round mug with one handle with the rack with two rods sticking out, hang the round mug with one handle on the rack with two rods sticking out, release the round mug with one handle.", + "With the arm, reach the smooth dark green mug, grasp the smooth dark green mug by edge contact point 0, lift, align it to the rack with angular body, hang the smooth dark green mug on the rack with angular body, then release the smooth dark green mug.", + "Direct the arm to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks clear, move to the dark gray rack, hang the ceramic mug for hot drinks on the dark gray rack, release the grip.", + "With the arm, grasp the ceramic mug by edge contact point 0, lift and transport the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, then let go.", + "Move the arm to the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug by edge contact point 0, lift, carry to the metal rack, hang the Starbucks branded coffee mug on the metal rack, release the Starbucks branded coffee mug.", + "Hold the Starbucks branded coffee mug using edge contact point 0, lift the Starbucks branded coffee mug up, bring the Starbucks branded coffee mug to the metallic rack with smooth finish, hang the Starbucks branded coffee mug on the metallic rack with smooth finish, then release.", + "Bring the arm to the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift it, move to the smooth rack, hang the ceramic mug for hot drinks on the smooth rack, then let go.", + "Get to the green mug, grasp the green mug by edge contact point 0, lift the green mug, bring it to the metallic angular rack with rod pair, hang the green mug on the metallic angular rack with rod pair, and release.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug up, move the ceramic mug to the angular rack with slanted support rod, hang the ceramic mug on the angular rack with slanted support rod, and let go of the ceramic mug.", + "Reach the green drinking mug, grasp the green drinking mug by edge contact point 0, lift the green drinking mug, carry the green drinking mug to the smooth rack, hang the green drinking mug on the smooth rack, then release the green drinking mug.", + "Using the arm, take the green drinking mug at edge contact point 0, raise the green drinking mug, move to the angular rack with slanted support rod, hook the green drinking mug onto the angular rack with slanted support rod, and release the green drinking mug.", + "With the arm, take the logo mug by edge contact point 0, lift the logo mug clear, move to the smooth rack, hook the logo mug onto the smooth rack, then open the grip.", + "Use the arm to grab the logo mug by edge contact point 0, lift the logo mug, move over to the metallic rack with smooth finish, hang the logo mug on the metallic rack with smooth finish, and release the logo mug.", + "With the arm, approach the ceramic mug for hot drinks, grasp the ceramic mug for hot drinks by edge contact point 0, lift the ceramic mug for hot drinks, bring it to the metallic angular rack with rod pair, hang the ceramic mug for hot drinks on the metallic angular rack with rod pair, then let go.", + "Move the arm toward the Starbucks branded coffee mug, grasp the Starbucks branded coffee mug at edge contact point 0, lift the Starbucks branded coffee mug, carry the Starbucks branded coffee mug to the angular rack with slanted support rod, hang the Starbucks branded coffee mug on the angular rack with slanted support rod, release the Starbucks branded coffee mug.", + "Reach for the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift the dark green ceramic cup clear, place the dark green ceramic cup onto the smooth rack to hang, then release the dark green ceramic cup.", + "Send the arm to the dark green ceramic cup, grasp the dark green ceramic cup by edge contact point 0, lift it, carry the dark green ceramic cup to the smooth rack, hang the dark green ceramic cup on the smooth rack, and release the dark green ceramic cup.", + "Go to the medium mug with handle, grasp the medium mug with handle by edge contact point 0, lift it clear, align it with the angular rack with slanted support rod, hang the medium mug with handle on the angular rack with slanted support rod, and let go.", + "Grasp the starbucks green mug by edge contact point 0, lift the starbucks green mug, bring the starbucks green mug to the rack with angular body, set the starbucks green mug onto the rack with angular body to hang, and release the starbucks green mug.", + "Take the medium-sized smooth green Starbucks mug by edge contact point 0, lift it from its spot, carry the medium-sized smooth green Starbucks mug to the angled rack with long and short rods, hang the medium-sized smooth green Starbucks mug on the angled rack with long and short rods, then release the medium-sized smooth green Starbucks mug.", + "Guide the arm to the smooth dark green mug, grip the smooth dark green mug by edge contact point 0, pick it up, move to the metal rack, hang the smooth dark green mug on the metal rack, and release.", + "Grab the ceramic mug for hot drinks at edge contact point 0, pick it up, move it over to the medium rack with protruding rods, hang the ceramic mug for hot drinks onto the medium rack with protruding rods, and release the ceramic mug for hot drinks.", + "Grab the medium mug with handle at edge contact point 0, lift it, bring it to the angled rack with long and short rods, hang the medium mug with handle on the angled rack with long and short rods, then release the grip.", + "Pick up the ceramic mug for hot drinks by edge contact point 0, move the ceramic mug for hot drinks to the smooth rack, hang the ceramic mug for hot drinks on the smooth rack, and release the ceramic mug for hot drinks once it holds.", + "Have the arm grasp the logo mug by edge contact point 0, lift the logo mug, bring it to the metallic rack with smooth finish, hang the logo mug from the metallic rack with smooth finish, then release.", + "Move the arm toward the round mug with one handle, grasp the round mug with one handle by edge contact point 0, lift it, travel to the metallic angular rack with rod pair, place the round mug with one handle onto the metallic angular rack with rod pair to hang, then release.", + "Grasp the starbucks green mug at edge contact point 0, lift the starbucks green mug from its spot, carry the starbucks green mug to the smooth rack, hang the starbucks green mug on the smooth rack, and release.", + "Grasp the Starbucks branded coffee mug by edge contact point 0, lift the Starbucks branded coffee mug, move it over to the angled rack with long and short rods, hook the Starbucks branded coffee mug onto the angled rack with long and short rods, and release the Starbucks branded coffee mug.", + "Approach the logo mug, take hold of the logo mug by edge contact point 0, raise it, bring it to the metallic rack with smooth finish, hook the logo mug onto the metallic rack with smooth finish, and let go.", + "Take the dark green ceramic cup by edge contact point 0, lift it off the surface, move it to the rack with angular body, hang the dark green ceramic cup on the rack with angular body, and release your grip.", + "Direct the arm to grip the logo mug at edge contact point 0, pick the logo mug up, carry it to the smooth dark gray rack, hang the logo mug on the smooth dark gray rack, and release." + ], + "unseen": [ + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go of the mug with white logo print.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug with white logo print on the medium-sized rack, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release the dark mug with a curved handle.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Grasp the mug with white logo print by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release the cylindrical mug with Starbucks logo.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go of the mug with white logo print.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the dark mug with a curved handle on the medium-sized rack, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Move to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Move the arm to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring the cylindrical mug with Starbucks logo to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release the cylindrical mug with Starbucks logo.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and let go of the dark mug with a curved handle.", + "Using the arm, go to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift the mug with white logo print, bring it to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, then release the mug with white logo print.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Using the arm, grab the dark mug with a curved handle by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Reach to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then release.", + "Grab the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, carry it over to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and let go of the cylindrical mug with Starbucks logo.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Reach to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then release.", + "Grab the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, carry it over to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, and let go of the dark mug with a curved handle.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Move to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, then let go.", + "Using the arm, grab the cylindrical mug with Starbucks logo by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and let go.", + "Grasp the cylindrical mug with Starbucks logo by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the cylindrical mug with Starbucks logo on the dark gray rack with flat back, and release.", + "Move the arm to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, bring the mug with white logo print to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, then release the mug with white logo print.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, and let go of the mug with white logo print.", + "Using the arm, go to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift the dark mug with a curved handle, bring it to the rack with straight and slanted rods, hang the dark mug with a curved handle on the rack with straight and slanted rods, and release.", + "Use the arm to grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the cylindrical mug with Starbucks logo on the rack with straight and slanted rods, then let go.", + "Move to the mug with white logo print, grasp the mug with white logo print by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug with white logo print on the rack with straight and slanted rods, then let go.", + "Using the arm, grab the mug with white logo print by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with white logo print on the medium-sized rack, and let go.", + "Grasp the dark mug with a curved handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, and release.", + "Move the arm to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring the dark mug with a curved handle to the dark gray rack with flat back, hang the dark mug with a curved handle on the dark gray rack with flat back, then release the dark mug with a curved handle.", + "Reach to the dark mug with a curved handle, grasp the dark mug with a curved handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the dark mug with a curved handle on the medium-sized rack, then release.", + "Grab the mug with white logo print by edge contact point 0, lift the mug with white logo print, carry it over to the dark gray rack with flat back, hang the mug with white logo print on the dark gray rack with flat back, and let go of the mug with white logo print.", + "Using the arm, go to the cylindrical mug with Starbucks logo, grasp the cylindrical mug with Starbucks logo by edge contact point 0, lift the cylindrical mug with Starbucks logo, bring it to the medium-sized rack, hang the cylindrical mug with Starbucks logo on the medium-sized rack, and release.", + "Use the arm to grasp the mug with white logo print by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with white logo print on the dark gray rack with flat back, then let go." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/instructions/episode9.json b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..e2c548e13585bed01d7c899a11d713ca26072666 --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the ceramic mug at edge contact point 0, pick it up, move it over to the angled rack with long and short rods, hang the ceramic mug onto the angled rack with long and short rods, and release the ceramic mug.", + "Use the arm to grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move toward the metal rack, hang the white mug with glossy finish on the metal rack, then release the white mug with glossy finish.", + "Use the arm to grab the smooth white mug by edge contact point 0, lift the smooth white mug, move over to the angular rack with slanted support rod, hang the smooth white mug on the angular rack with slanted support rod, and release the smooth white mug.", + "Have the arm grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the medium rack with protruding rods, hang the white drinking mug with smooth surface from the medium rack with protruding rods, then release.", + "Get to the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface, bring it to the smooth dark gray rack, hang the white drinking mug with smooth surface on the smooth dark gray rack, and release.", + "Grab the white mug with glossy finish at edge contact point 0, lift it, bring it to the medium rack with protruding rods, hang the white mug with glossy finish on the medium rack with protruding rods, then release the grip.", + "Go to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift it clear, align it with the angled rack with long and short rods, hang the mug for drinking liquids on the angled rack with long and short rods, and let go.", + "Take the hand-sized mug with blue artwork by edge contact point 0, lift it, bring it over to the metal rack, place the hand-sized mug with blue artwork onto the metal rack so it hangs, then let go.", + "Using the arm, take the ceramic mug at edge contact point 0, raise the ceramic mug, move to the angular rack with slanted support rod, hook the ceramic mug onto the angular rack with slanted support rod, and release the ceramic mug.", + "Grab the white mug at edge contact point 0, lift the white mug, move it to the metallic rack with smooth finish, hook the white mug onto the metallic rack with smooth finish, and release the white mug.", + "Using the arm, secure the white ceramic mug with handle by edge contact point 0, lift, align the white ceramic mug with handle with the smooth dark gray rack, hang the white ceramic mug with handle on the smooth dark gray rack, and let go.", + "Guide the arm to the white drinking mug with smooth surface, grip the white drinking mug with smooth surface by edge contact point 0, pick it up, move to the metallic angular rack with rod pair, hang the white drinking mug with smooth surface on the metallic angular rack with rod pair, and release.", + "With the arm, approach the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print, bring it to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, then let go.", + "Grab the printed white ceramic mug at edge contact point 0, raise it, guide it to the rack with angular body, set the printed white ceramic mug onto the rack with angular body so it hangs, then release the printed white ceramic mug.", + "Grasp the white mug by edge contact point 0, lift the white mug up, move the white mug to the metal rack, hang the white mug on the metal rack, and let go of the white mug.", + "Bring the arm to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it, move to the rack with two rods sticking out, hang the hand-sized mug with blue artwork on the rack with two rods sticking out, then let go.", + "Move the arm to the smooth white mug, grasp the smooth white mug by edge contact point 0, lift, carry to the dark gray rack, hang the smooth white mug on the dark gray rack, release the smooth white mug.", + "With the arm, grasp the white drinking mug with smooth surface by edge contact point 0, lift and transport the white drinking mug with smooth surface to the smooth rack, hang the white drinking mug with smooth surface on the smooth rack, then let go.", + "Take the printed white ceramic mug by edge contact point 0, lift it from its spot, carry the printed white ceramic mug to the angled rack with long and short rods, hang the printed white ceramic mug on the angled rack with long and short rods, then release the printed white ceramic mug.", + "Hold the white mug at edge contact point 0, lift it up, move toward the medium rack with protruding rods, place the white mug onto the medium rack with protruding rods to hang, then let go.", + "Grasp the white ceramic mug with handle by edge contact point 0, lift the white ceramic mug with handle, move it over to the medium rack with protruding rods, hook the white ceramic mug with handle onto the medium rack with protruding rods, and release the white ceramic mug with handle.", + "Take the medium mug with blue design by edge contact point 0, lift it off the surface, move it to the smooth dark gray rack, hang the medium mug with blue design on the smooth dark gray rack, and release your grip.", + "Pick up the smooth white mug by edge contact point 0, move the smooth white mug to the dark gray rack, hang the smooth white mug on the dark gray rack, and release the smooth white mug once it holds.", + "Reach for the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface clear, place the white drinking mug with smooth surface onto the smooth dark gray rack to hang, then release the white drinking mug with smooth surface.", + "Move the arm toward the mug with blue print, grasp the mug with blue print at edge contact point 0, lift the mug with blue print, carry the mug with blue print to the smooth rack, hang the mug with blue print on the smooth rack, release the mug with blue print.", + "Approach the mug with blue print, take hold of the mug with blue print by edge contact point 0, raise it, bring it to the dark gray angled rack, hook the mug with blue print onto the dark gray angled rack, and let go.", + "Direct the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift the mug with blue print clear, move to the rack with angular body, hang the mug with blue print on the rack with angular body, release the grip.", + "Reach the medium mug with blue design, grasp the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, carry the medium mug with blue design to the smooth dark gray rack, hang the medium mug with blue design on the smooth dark gray rack, then release the medium mug with blue design.", + "Move the arm toward the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it, travel to the angular rack with slanted support rod, place the white ceramic mug with handle onto the angular rack with slanted support rod to hang, then release.", + "With the arm, take the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface clear, move to the angular rack with slanted support rod, hook the white drinking mug with smooth surface onto the angular rack with slanted support rod, then open the grip.", + "Direct the arm to grip the printed white ceramic mug at edge contact point 0, pick the printed white ceramic mug up, carry it to the metal rack, hang the printed white ceramic mug on the metal rack, and release.", + "Have the arm reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, move to the metal rack, hang the smooth white mug on the metal rack, then open the grip.", + "Hold the mug with blue print using edge contact point 0, lift the mug with blue print up, bring the mug with blue print to the metallic rack with smooth finish, hang the mug with blue print on the metallic rack with smooth finish, then release.", + "Grasp the white mug by edge contact point 0, lift the white mug, bring the white mug to the smooth rack, set the white mug onto the smooth rack to hang, and release the white mug.", + "Grasp the white mug at edge contact point 0, lift the white mug from its spot, carry the white mug to the smooth rack, hang the white mug on the smooth rack, and release.", + "Take the white mug by edge contact point 0, lift the white mug up, move the white mug in front of the dark gray rack, hang the white mug onto the dark gray rack, then release the white mug.", + "Guide the arm to the white ceramic mug with handle, grip the white ceramic mug with handle at edge contact point 0, lift the white ceramic mug with handle, align the white ceramic mug with handle with the dark gray rack, hang the white ceramic mug with handle on the dark gray rack, release the white ceramic mug with handle.", + "With the arm, take hold of the white mug by edge contact point 0, pick it up, bring it to the smooth rack, hang the white mug on the smooth rack, then release.", + "With the arm, reach the white mug, grasp the white mug by edge contact point 0, lift, align it to the smooth dark gray rack, hang the white mug on the smooth dark gray rack, then release the white mug.", + "Send the arm to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift it, carry the printed white ceramic mug to the smooth rack, hang the printed white ceramic mug on the smooth rack, and release the printed white ceramic mug.", + "Grab the printed white ceramic mug at edge contact point 0, pick it up, move it over to the smooth rack, hang the printed white ceramic mug onto the smooth rack, and release the printed white ceramic mug.", + "Use the arm to grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move toward the metal rack, hang the hand-sized mug with blue artwork on the metal rack, then release the hand-sized mug with blue artwork.", + "Use the arm to grab the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, move over to the rack with angular body, hang the hand-sized mug with blue artwork on the rack with angular body, and release the hand-sized mug with blue artwork.", + "Have the arm grasp the smooth white mug by edge contact point 0, lift the smooth white mug, bring it to the rack with two rods sticking out, hang the smooth white mug from the rack with two rods sticking out, then release.", + "Get to the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the angled rack with long and short rods, hang the printed white ceramic mug on the angled rack with long and short rods, and release.", + "Grab the white ceramic mug with handle at edge contact point 0, lift it, bring it to the rack with angular body, hang the white ceramic mug with handle on the rack with angular body, then release the grip.", + "Go to the hand-sized mug with blue artwork, grasp the hand-sized mug with blue artwork by edge contact point 0, lift it clear, align it with the smooth dark gray rack, hang the hand-sized mug with blue artwork on the smooth dark gray rack, and let go.", + "Take the smooth white mug by edge contact point 0, lift it, bring it over to the dark gray rack, place the smooth white mug onto the dark gray rack so it hangs, then let go.", + "Using the arm, take the cylindrical mug with curved handle at edge contact point 0, raise the cylindrical mug with curved handle, move to the medium rack with protruding rods, hook the cylindrical mug with curved handle onto the medium rack with protruding rods, and release the cylindrical mug with curved handle.", + "Grab the ceramic mug at edge contact point 0, lift the ceramic mug, move it to the dark gray rack, hook the ceramic mug onto the dark gray rack, and release the ceramic mug.", + "Using the arm, secure the mug for drinking liquids by edge contact point 0, lift, align the mug for drinking liquids with the metal rack, hang the mug for drinking liquids on the metal rack, and let go.", + "Guide the arm to the ceramic mug, grip the ceramic mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the ceramic mug on the rack with two rods sticking out, and release.", + "With the arm, approach the printed white ceramic mug, grasp the printed white ceramic mug by edge contact point 0, lift the printed white ceramic mug, bring it to the metallic angular rack with rod pair, hang the printed white ceramic mug on the metallic angular rack with rod pair, then let go.", + "Grab the ceramic mug at edge contact point 0, raise it, guide it to the medium rack with protruding rods, set the ceramic mug onto the medium rack with protruding rods so it hangs, then release the ceramic mug.", + "Grasp the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug to the metal rack, hang the smooth white mug on the metal rack, and let go of the smooth white mug.", + "Bring the arm to the cylindrical mug with curved handle, grasp the cylindrical mug with curved handle by edge contact point 0, lift it, move to the smooth dark gray rack, hang the cylindrical mug with curved handle on the smooth dark gray rack, then let go.", + "Move the arm to the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift, carry to the rack with two rods sticking out, hang the mug for drinking liquids on the rack with two rods sticking out, release the mug for drinking liquids.", + "With the arm, grasp the cylindrical mug with curved handle by edge contact point 0, lift and transport the cylindrical mug with curved handle to the medium rack with protruding rods, hang the cylindrical mug with curved handle on the medium rack with protruding rods, then let go.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it from its spot, carry the white drinking mug with smooth surface to the smooth dark gray rack, hang the white drinking mug with smooth surface on the smooth dark gray rack, then release the white drinking mug with smooth surface.", + "Hold the white mug with glossy finish at edge contact point 0, lift it up, move toward the metallic rack with smooth finish, place the white mug with glossy finish onto the metallic rack with smooth finish to hang, then let go.", + "Grasp the white mug with glossy finish by edge contact point 0, lift the white mug with glossy finish, move it over to the angled rack with long and short rods, hook the white mug with glossy finish onto the angled rack with long and short rods, and release the white mug with glossy finish.", + "Take the mug for drinking liquids by edge contact point 0, lift it off the surface, move it to the angular rack with slanted support rod, hang the mug for drinking liquids on the angular rack with slanted support rod, and release your grip.", + "Pick up the smooth white mug by edge contact point 0, move the smooth white mug to the medium rack with protruding rods, hang the smooth white mug on the medium rack with protruding rods, and release the smooth white mug once it holds.", + "Reach for the white drinking mug with smooth surface, grasp the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface clear, place the white drinking mug with smooth surface onto the metallic rack with smooth finish to hang, then release the white drinking mug with smooth surface.", + "Move the arm toward the medium mug with blue design, grasp the medium mug with blue design at edge contact point 0, lift the medium mug with blue design, carry the medium mug with blue design to the medium rack with protruding rods, hang the medium mug with blue design on the medium rack with protruding rods, release the medium mug with blue design.", + "Approach the white mug, take hold of the white mug by edge contact point 0, raise it, bring it to the rack with angular body, hook the white mug onto the rack with angular body, and let go.", + "Direct the arm to the white mug, grasp the white mug by edge contact point 0, lift the white mug clear, move to the smooth dark gray rack, hang the white mug on the smooth dark gray rack, release the grip.", + "Reach the smooth white mug, grasp the smooth white mug by edge contact point 0, lift the smooth white mug, carry the smooth white mug to the angled rack with long and short rods, hang the smooth white mug on the angled rack with long and short rods, then release the smooth white mug.", + "Move the arm toward the white ceramic mug with handle, grasp the white ceramic mug with handle by edge contact point 0, lift it, travel to the medium rack with protruding rods, place the white ceramic mug with handle onto the medium rack with protruding rods to hang, then release.", + "With the arm, take the medium mug with blue design by edge contact point 0, lift the medium mug with blue design clear, move to the metallic angular rack with rod pair, hook the medium mug with blue design onto the metallic angular rack with rod pair, then open the grip.", + "Direct the arm to grip the hand-sized mug with blue artwork at edge contact point 0, pick the hand-sized mug with blue artwork up, carry it to the dark gray angled rack, hang the hand-sized mug with blue artwork on the dark gray angled rack, and release.", + "Have the arm reach the white mug, grasp the white mug by edge contact point 0, lift the white mug, move to the rack with two rods sticking out, hang the white mug on the rack with two rods sticking out, then open the grip.", + "Hold the white mug with glossy finish using edge contact point 0, lift the white mug with glossy finish up, bring the white mug with glossy finish to the smooth rack, hang the white mug with glossy finish on the smooth rack, then release.", + "Grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring the ceramic mug to the medium rack with protruding rods, set the ceramic mug onto the medium rack with protruding rods to hang, and release the ceramic mug.", + "Grasp the mug with blue print at edge contact point 0, lift the mug with blue print from its spot, carry the mug with blue print to the smooth dark gray rack, hang the mug with blue print on the smooth dark gray rack, and release.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift the white drinking mug with smooth surface up, move the white drinking mug with smooth surface in front of the metal rack, hang the white drinking mug with smooth surface onto the metal rack, then release the white drinking mug with smooth surface.", + "Guide the arm to the mug for drinking liquids, grip the mug for drinking liquids at edge contact point 0, lift the mug for drinking liquids, align the mug for drinking liquids with the metal rack, hang the mug for drinking liquids on the metal rack, release the mug for drinking liquids.", + "With the arm, take hold of the mug for drinking liquids by edge contact point 0, pick it up, bring it to the metal rack, hang the mug for drinking liquids on the metal rack, then release.", + "With the arm, reach the white mug with glossy finish, grasp the white mug with glossy finish by edge contact point 0, lift, align it to the rack with angular body, hang the white mug with glossy finish on the rack with angular body, then release the white mug with glossy finish.", + "Send the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift it, carry the ceramic mug to the dark gray angled rack, hang the ceramic mug on the dark gray angled rack, and release the ceramic mug.", + "Grab the cylindrical mug with curved handle at edge contact point 0, pick it up, move it over to the rack with angular body, hang the cylindrical mug with curved handle onto the rack with angular body, and release the cylindrical mug with curved handle.", + "Use the arm to grasp the mug with blue print by edge contact point 0, lift the mug with blue print, move toward the smooth dark gray rack, hang the mug with blue print on the smooth dark gray rack, then release the mug with blue print.", + "Use the arm to grab the medium mug with blue design by edge contact point 0, lift the medium mug with blue design, move over to the rack with two rods sticking out, hang the medium mug with blue design on the rack with two rods sticking out, and release the medium mug with blue design.", + "Have the arm grasp the hand-sized mug with blue artwork by edge contact point 0, lift the hand-sized mug with blue artwork, bring it to the medium rack with protruding rods, hang the hand-sized mug with blue artwork from the medium rack with protruding rods, then release.", + "Get to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift the ceramic mug, bring it to the smooth dark gray rack, hang the ceramic mug on the smooth dark gray rack, and release.", + "Grab the mug for drinking liquids at edge contact point 0, lift it, bring it to the metallic rack with smooth finish, hang the mug for drinking liquids on the metallic rack with smooth finish, then release the grip.", + "Go to the white mug, grasp the white mug by edge contact point 0, lift it clear, align it with the metallic angular rack with rod pair, hang the white mug on the metallic angular rack with rod pair, and let go.", + "Take the white ceramic mug with handle by edge contact point 0, lift it, bring it over to the smooth rack, place the white ceramic mug with handle onto the smooth rack so it hangs, then let go.", + "Using the arm, take the hand-sized mug with blue artwork at edge contact point 0, raise the hand-sized mug with blue artwork, move to the smooth rack, hook the hand-sized mug with blue artwork onto the smooth rack, and release the hand-sized mug with blue artwork.", + "Grab the hand-sized mug with blue artwork at edge contact point 0, lift the hand-sized mug with blue artwork, move it to the angled rack with long and short rods, hook the hand-sized mug with blue artwork onto the angled rack with long and short rods, and release the hand-sized mug with blue artwork.", + "Using the arm, secure the mug with blue print by edge contact point 0, lift, align the mug with blue print with the metal rack, hang the mug with blue print on the metal rack, and let go.", + "Guide the arm to the printed white ceramic mug, grip the printed white ceramic mug by edge contact point 0, pick it up, move to the rack with two rods sticking out, hang the printed white ceramic mug on the rack with two rods sticking out, and release.", + "With the arm, approach the mug for drinking liquids, grasp the mug for drinking liquids by edge contact point 0, lift the mug for drinking liquids, bring it to the angled rack with long and short rods, hang the mug for drinking liquids on the angled rack with long and short rods, then let go.", + "Grab the mug with blue print at edge contact point 0, raise it, guide it to the dark gray rack, set the mug with blue print onto the dark gray rack so it hangs, then release the mug with blue print.", + "Grasp the smooth white mug by edge contact point 0, lift the smooth white mug up, move the smooth white mug to the metal rack, hang the smooth white mug on the metal rack, and let go of the smooth white mug.", + "Bring the arm to the mug with blue print, grasp the mug with blue print by edge contact point 0, lift it, move to the smooth rack, hang the mug with blue print on the smooth rack, then let go.", + "Move the arm to the ceramic mug, grasp the ceramic mug by edge contact point 0, lift, carry to the metallic angular rack with rod pair, hang the ceramic mug on the metallic angular rack with rod pair, release the ceramic mug.", + "With the arm, grasp the medium mug with blue design by edge contact point 0, lift and transport the medium mug with blue design to the angled rack with long and short rods, hang the medium mug with blue design on the angled rack with long and short rods, then let go.", + "Take the white drinking mug with smooth surface by edge contact point 0, lift it from its spot, carry the white drinking mug with smooth surface to the angled rack with long and short rods, hang the white drinking mug with smooth surface on the angled rack with long and short rods, then release the white drinking mug with smooth surface.", + "Hold the hand-sized mug with blue artwork at edge contact point 0, lift it up, move toward the angled rack with long and short rods, place the hand-sized mug with blue artwork onto the angled rack with long and short rods to hang, then let go." + ], + "unseen": [ + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring the mug shaped like a cylinder to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release the mug shaped like a cylinder.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go of the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, then release the mug with rounded bottom and handle.", + "Using the arm, grab the mug with rounded bottom and handle by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go of the medium-sized white mug.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Move the arm to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring the mug with rounded bottom and handle to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release the mug with rounded bottom and handle.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, and let go of the mug with rounded bottom and handle.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, then release.", + "Move to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, then let go.", + "Use the arm to grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the medium-sized white mug on the medium-sized rack, then let go.", + "Grasp the mug with rounded bottom and handle by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and release.", + "Using the arm, go to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, bring it to the medium-sized rack, hang the mug with rounded bottom and handle on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the medium-sized rack, and hang the mug shaped like a cylinder on the medium-sized rack, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, grab the medium-sized white mug by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and let go of the mug shaped like a cylinder.", + "Reach to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then release.", + "Move to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the dark gray rack with flat back, and hang the mug with rounded bottom and handle on the dark gray rack with flat back, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, carry it over to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, and let go of the medium-sized white mug.", + "Reach to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the medium-sized rack, hang the mug shaped like a cylinder on the medium-sized rack, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, then release the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the mug with rounded bottom and handle by edge contact point 0, lift the mug with rounded bottom and handle, carry it over to the dark gray rack with flat back, hang the mug with rounded bottom and handle on the dark gray rack with flat back, and let go of the mug with rounded bottom and handle.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grasp the mug shaped like a cylinder by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and release.", + "Using the arm, go to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift the medium-sized white mug, bring it to the medium-sized rack, hang the medium-sized white mug on the medium-sized rack, and release.", + "Move the arm to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, bring the medium-sized white mug to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then release the medium-sized white mug.", + "Using the arm, grab the mug shaped like a cylinder by edge contact point 0, raise it, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go.", + "Grab the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, carry it over to the rack with straight and slanted rods, hang the mug shaped like a cylinder on the rack with straight and slanted rods, and let go of the mug shaped like a cylinder.", + "Reach to the mug with rounded bottom and handle, grasp the mug with rounded bottom and handle by edge contact point 0, lift it, bring it to the rack with straight and slanted rods, hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then release.", + "Move to the medium-sized white mug, grasp the medium-sized white mug by edge contact point 0, lift it, carry it to the dark gray rack with flat back, hang the medium-sized white mug on the dark gray rack with flat back, then let go.", + "Use the arm to grasp the mug with rounded bottom and handle by edge contact point 0, lift it, carry it to the rack with straight and slanted rods, and hang the mug with rounded bottom and handle on the rack with straight and slanted rods, then let go.", + "Grasp the medium-sized white mug by edge contact point 0, pick it up, bring it over to the rack with straight and slanted rods, hang the medium-sized white mug on the rack with straight and slanted rods, and release.", + "Using the arm, go to the mug shaped like a cylinder, grasp the mug shaped like a cylinder by edge contact point 0, lift the mug shaped like a cylinder, bring it to the dark gray rack with flat back, hang the mug shaped like a cylinder on the dark gray rack with flat back, and release." + ] +} \ No newline at end of file diff --git a/hanging_mug_pref3/hanging_mug_pref3/scene_info.json b/hanging_mug_pref3/hanging_mug_pref3/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..9236a6cec7a1d5bd80e6e60989695ad1027f722f --- /dev/null +++ b/hanging_mug_pref3/hanging_mug_pref3/scene_info.json @@ -0,0 +1,552 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "039_mug/base1", + "{B}": "040_rack/base0" + } + }, + "episode_1": { + 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