Transport the object toward the object while rotating the wrist to align the object for wiping


Open gripper to place the object at the target location


Lower the object downward and place it at the target location while releasing grip


Move backward and slightly right while holding nothing to retreat from the placement location


Lift the object upward while rotating it to begin folding


Rotate the object further to continue folding while moving slightly sideways


Open gripper to place the object on the bottom object


Press the switch of the object downward with the gripper tip while holding nothing


Push the left lever on the object upwards while maintaining contact and holding nothing


Move away from the object toward the next object while holding nothing


Lift the object upward and transport it toward the object while holding it


Open gripper to place the cyan object into the object


Lift the plush object upward and transport it toward the object while holding it


Open gripper to place the plush object into the object


Push the object downwards with continuous contact while holding nothing


Move forward and slightly right while holding nothing to approach the object


Pull the object horizontally outward while maintaining contact and holding nothing else


Move forward and downward to approach the top object while holding nothing


Move forward and upward toward the open upper object while holding nothing


Move downward and forward toward the object while holding nothing


Rotate the gripper to reorient the object while transporting it horizontally toward the object area


Close gripper again to secure the object during adjustment


Open gripper to release the object onto the object surface


Move forward and slightly downward to approach the object while holding nothing


Retract arm backward and upward to clear the object area while holding nothing


Move forward and downward toward the next target while holding nothing


Reorient the object by tilting it forward while maintaining grip


Move downward and slightly forward while holding nothing to approach the object on the object


Transport the object horizontally to the right and lower it into the second slot while holding it


Move downward and slightly right to approach the clear jar while holding nothing


Remain stationary with gripper in contact with the object


Transport the object toward the bed while rotating wrist to align orientation for placement


Move downward and slightly forward to approach the first object on the object while holding nothing


Transport the object toward the banana purse while rotating wrist to align orientation for insertion


Move downward and slightly left while holding nothing to approach the object


Lift vertically while holding the object, then transport rightward toward the object


Lift vertically while holding the object


Close gripper to grasp the remaining object from the stack


Open gripper to place the object into the object with the others


Move upward and slightly rightward to reposition above the object while holding nothing


Open gripper to release the object onto the object surface next to the first one


Lift the object and transport it slightly rightward while rotating the gripper to adjust orientation


Transport the end-effector toward the first object while rotating the wrist to align for wrapping


Reorient the gripper and apply gentle horizontal force to adjust the position of the object for wrapping


Hold posture steady without motion while maintaining contact with the object


Move laterally to approach the next object on the object while holding nothing


Open gripper to place the object into the object


Move backward and slightly left to approach the fourth object while holding nothing


Move to the left to approach the fifth object while holding nothing


Move forward to approach the sixth object while holding nothing


Move forward and upward toward the object while holding nothing


Pull the object outward to open the object while maintaining contact without enclosure


Hold position with gripper still in contact with the object, allowing the object to remain open


Move forward and downward to approach the object while holding nothing


Pull the object outward horizontally while maintaining contact but not fully holding it yet


Open gripper to release the object onto the surface


Move downward and forward to approach the letter pieces while holding nothing


Transport the letter piece to the left while holding it


Move downward and forward to approach the triangular object while holding nothing


Close gripper to grasp the triangular object


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object inside the object


Transport the object toward the bed while rotating wrist to adjust orientation for placement


Lower the object downward toward the bed surface while holding it


Open gripper to release and place the object onto the bed


Move forward and downward toward the object knob while holding nothing


Adjust gripper orientation freely to align with the knob while holding nothing


Rotate wrist slightly while holding the object to adjust orientation


Lift slightly while transporting forward to clear the object


Maintain grasp and lift upward while transporting slightly to the right


Maintain grasp and rotate wrist counterclockwise while transporting leftward


Open gripper to place the object while maintaining position


Move forward and slightly upward toward the wall socket while holding nothing


Apply pressure directly onto the lower button of the socket using the gripper tip while holding nothing


Retract backward and slightly downward away from the socket while holding nothing


Move forward and downward to approach the rightmost water object while holding nothing


Close gripper to grasp the rightmost water object


Lift the water object vertically upward while holding it


Lift the object vertically upward while holding it


Transport the object to the right while holding it


Lower the object onto the top of the rightmost water object and release it


Move forward and slightly left while adjusting gripper orientation freely


Lift the object upward and transport it slightly to the right while holding


Pull the object backward to open the object while maintaining contact without enclosure


Push the object forward to close it while maintaining contact with the object edge


Transport the object upward and toward the target location while holding it


Close gripper to grasp the top object of the stack


Lift the top object vertically upward while holding it


Transport the object horizontally toward the object while holding it


Lower the object into the object and open gripper to place it


Lower the object into the object and open gripper to place it beside the first one


Transport the object to the left while rotating it to tilt the contents downward


Hold the object steady in tilted orientation to allow contents to pour out


Rotate the object back to orientation while moving it slightly right and backward


Rotate gripper freely to align with the target orientation while holding nothing


Transport the object slightly backward while rotating the wrist to tilt the object opening downward


Hold the object steady in the tilted posture without movement


Move upward and slightly forward while holding nothing to approach the overhead object


Close gripper to grasp the object from inside the object


Move upward and forward while holding nothing to re-approach the object interior


Transport the object toward the object while slightly reorienting to align for placement


Hold the object steady in the open position


Apply backward force while maintaining contact to further open the cover


Move forward and downward to approach the duster while holding nothing


Lift the duster upward and transport it toward the object while holding it


Push the duster against the object surface in a back-and-forth motion while maintaining contact and holding nothing (gripper open but in contact)


Transport the object forward while holding it


Lower the object downward while holding it


Move downward and slightly backward toward the next object while holding nothing


Move forward and downward to approach the inside the object while holding nothing


Close gripper to grasp the inside the object


Lift the vertically upward and transport it toward the right while holding it


Open gripper to release and place the on the surface


Close gripper to grasp the object from within the object


Move downward and forward into the dishwasher object while holding nothing


Close gripper to grasp the object from the right side of the object


Lift the object vertically while transporting it leftward within the object


Lower the object downward while maintaining hold, positioning it on the left side of the object


Transport the object backward while rotating wrist to tilt the object slightly


Move downward and slightly forward to approach the object while holding nothing


Lift the object vertically and transport it toward the object while holding it


Lower the object into the object while maintaining grasp


Rotate wrist while moving the object in a motion inside the object to stir the contents


Open gripper to release and place the object on the object surface


Close gripper to grasp the protruding object while holding nothing


Pull the object outward horizontally while holding it


Open gripper to release the object while holding it


Move downward and slightly forward to approach the object in the object while holding nothing


Close gripper to grasp the object inside the object


Close gripper again to secure the object after brief release


Transport the object toward the object while reorienting to position it above the object


Close gripper firmly to ensure stable hold before final placement


Retract arm upward and slightly backward, moving away from the object while holding nothing


Move downward and forward to approach the next object while holding nothing


Pull the object backward to begin closing the object while maintaining contact without enclosure


Push the object forward gently to fully close it while maintaining contact with the object surface


Transport the object backward while slightly reorienting it to adjust position


Press the third switch from the left with the gripper while holding nothing


Move forward and downward toward the object while holding nothing


Lift the object vertically upward while holding it


Open gripper to place the object back on the couch


Retract upward and slightly backward away from the keyboard while holding nothing


Push the object forward while maintaining contact and holding nothing


Transport backward while rotating wrist to extract the object from the object


Press the button on the device with the gripper while holding nothing


Lower the object downward while maintaining grasp to position it near the target location


Move forward and downward to approach the next target while holding nothing


Move downward toward the object on the object while holding nothing


Transport the object horizontally to the right while rotating the wrist clockwise


Close gripper to grasp the first clothing item


Open gripper to place the object on the backrest while holding it


Move downward and forward toward the remaining clothing items while holding nothing


Close gripper to grasp the second clothing item


Apply downward pressure on a central key with the gripper tip while holding nothing


Transport the object upward and backward while rotating wrist to align for insertion


Move forward and downward toward the object on the arm of the sofa while holding nothing


Close gripper to grasp the object from the sofa arm


Transport the object toward the object while rotating the wrist to align orientation for insertion


Close gripper to grasp the object again from the object surface


Hold the object steadily in position above the object


Open gripper to release and place the object onto the object surface


Move forward and downward to approach the object knobs while holding nothing


Close gripper to grasp the second knob from the left


Open gripper to release and place the object down to the left


Hold position steadily while gripping the object


Open gripper to release the object back onto the surface


Press the object against the surface and move in motions to wipe


Lift the object upward and transport it away from the object while holding it


Move upward and slightly forward while holding nothing to approach the object


Rotate wrist clockwise while transporting leftward to align the object with the object


Transport the object upward and slightly backward while rotating wrist to align for


Transport horizontally toward the object and reorient the gripper to align with the object inside


Lift vertically while maintaining grasp, then transport backward and slightly left away from the object


Move forward toward the object while holding nothing


Move downward and slightly right to approach the object on the object while holding nothing


Transport the object horizontally toward the open object while holding it


Retract the end-effector backward away from the object while holding nothing


Transport the object slightly backward while rotating wrist to tilt the object open


Move forward and downward to approach the button while holding nothing


Apply pressure vertically downward onto the button while maintaining contact and holding nothing


Retract upward and backward away from the button while holding nothing


Move downward and forward to approach the dark object while holding nothing


Transport the object forward and slightly left while rotating wrist to reorient it horizontally


Transport the object toward the destination while holding it


Lower the object vertically downward while maintaining inverted orientation


Transport the object to the right while rotating the wrist to tilt the object downward for pouring


Transport the object to the side while rotating the gripper to keep it level


Lower the object downward and open gripper to place the object


Move forward and upward toward the window while holding nothing


Push the blind object downward with continuous contact while holding nothing


Retract slightly backward and adjust position while holding nothing


Push the blind object downward again with continuous contact while holding nothing


Pull the object open horizontally while maintaining contact with the object front


Move downward into the object space while holding nothing


Close gripper to grasp a third object inside the object


Move forward and slightly downward while holding nothing to approach the target device


Apply brief pressure forward with the gripper tip against a protruding element on the device while holding nothing


Transport the object horizontally toward the destination while holding it


Move forward and downward to approach the object while holding nothing


Transport the object toward the target location while rotating the wrist to tilt the object slightly


Remain motionless with gripper in contact and object stationary


Transport the object slightly to the right while rotating the wrist to adjust orientation


Push the object horizontally to open the object while maintaining contact and holding nothing


Move forward and downward to approach the closed laptop while holding nothing


Continue pushing the laptop object upward while slightly adjusting gripper orientation to maintain contact


Hold position steadily with no motion while the laptop object remains partially open


Lower the object downward toward the object while holding it


Retract upward and move slightly forward while holding nothing


Open gripper to place the object on the object


Move downward and slightly right while holding nothing to approach the object


Transport the object horizontally to the left while holding it


Transport the object to the left while rotating the wrist to align it for placement


Close gripper again to securely grasp the object


Close gripper once more to re-secure the object during final closure


Push the object edge inward with the gripper in contact (not held) to ensure closure


Move downward and forward toward the object while holding nothing


Maintain grasp, lift slightly and move horizontally to the right


Move forward and downward to approach the object while holding nothing


Move downward and forward toward the pile of object on the object while holding nothing


Close gripper to grasp a group of object from the pile


Move back toward the pile of object on the object while holding nothing


Lift the newly grasped object vertically upward while maintaining grip


Transport the object toward the object while adjusting orientation for placement


Close gripper to grasp another group of object from the pile


Transport the object toward the object while reorienting to align for placement


Push the object into the object while maintaining contact without grasping


Lift the object vertically and transport it to the left toward the object while holding it


Move slightly upward and backward away from the object while holding nothing


Move backward and slightly downward toward the object while holding nothing


Push the object inward horizontally while maintaining contact and holding nothing


Transport the object to the left while rotating wrist to align with the object


Move forward and downward to approach the object on the left side of the object while holding nothing


Close gripper to grasp the object on the left side


Close gripper to grasp the object on the right side


Transport the object toward the object while rotating wrist to align orientation


Close gripper to grasp the object from the dish object


Move downward and forward to approach the bottommost object while holding nothing


Press the switch vertically inward with the gripper tip while holding nothing


Transport the object toward the target while rotating the wrist to align orientation for placement


Move forward and slightly downward to approach the switch while holding nothing


Press the first switch on the extension object with the gripper tip while holding nothing


Transport the object to the right while rotating wrist to adjust orientation


Push the open cupboard object inward with the gripper while holding nothing


Move downward and slightly forward to approach the pliers while holding nothing


Lift the pliers vertically and transport them toward the object while holding


Close gripper to grasp the toothpaste tube


Lift the toothpaste tube and transport it toward the object while holding


Open gripper to place the toothpaste tube beside the pliers on the object


Retract upward and move away from the object while holding nothing


Open gripper immediately to release the object


Move upward and toward the object while holding nothing


Push the right object of the top object inward while maintaining contact and holding nothing


Move toward the blanket while holding nothing


Move forward and downward to approach the first object while holding nothing


Close gripper to grasp the remaining object


Move downward and forward to approach the middle object while holding nothing


Open gripper to place the object onto the target while holding it


Transport the object toward the object while rotating the wrist to orient the object for wiping


Move the end-effector away from the object while holding the object


Move forward and downward to approach the object while holding nothing


Push the object slightly to the left while maintaining contact without grasping


Retract gripper upward and backward to clear the object while holding nothing


Move forward and downward toward the object while holding nothing


Transport the object to the left while rotating wrist to tilt it downward


Lift the object upward and transport it toward the right while holding it


Transport the object toward the object while rotating the wrist to align the object for insertion


Pull the object outward horizontally while maintaining contact


Maintain grasp and lift the object vertically upward


Transport the object toward the base while rotating wrist to orient it for wiping


Press the object downward onto the base top surface while maintaining contact


Open gripper to release the object onto the base top


Transport the object forward and slightly right while rotating the gripper to tilt the object downward


Transport the object to the left and slightly forward while rotating the gripper to adjust orientation


Move downward and forward to approach the object while holding nothing


Close gripper to grasp the object inside the object


Transport the object toward the left-side opening while rotating the wrist to align the object for release


Transport the object toward the object while rotating wrist to align tip for drawing


Maintain contact with surface and move in curved trajectories to draw a smiley face while holding the object


Open gripper to release the object into the upper object


Retract arm downward and backward to clear the object while holding nothing


Rotate wrist anti-clockwise while holding the object


Move forward and downward to approach the top object while holding nothing


Transport the object horizontally downward toward the bottom object while holding it


Open gripper to release and place the object on the bottom object


Transport the object toward the object while reorienting it to align for placement


Move forward and downward to approach the first object while holding nothing


Lower the object into the object and open gripper to place it


Pull the object inward horizontally while maintaining contact without enclosing it


Transport the object to the left while holding it


Maintain grasp and lift the banana vertically upward


Transport the banana to the left while holding it


Open gripper to place the object into the left object


Move right and slightly backward to approach the object while holding nothing


Maintain grasp and lift the object vertically upward


Lift the grasped object vertically and transport it slightly backward while maintaining hold


Open gripper to release the object onto the backrest of the object


Close gripper to grasp another piece of object from the pile


Lift the grasped object vertically while holding it


Open gripper to place the second object onto the backrest of the object


Transport the object toward the target while rotating the wrist to orient it downward


Close gripper to grasp the object lying horizontally on the object


Transport the object upward and backward while rotating wrist to align it vertically for placement


Move downward and forward to approach the crumpled object while holding nothing


Close gripper to grasp the object protruding from the object


Maintain grasp and lift upward while transporting slightly backward


Open gripper to release the object while holding it in place


Lift the cover vertically upward while holding it


Open gripper to place the cover on the object surface


Move downward and forward toward the open object while holding nothing


Push the object forward while maintaining contact and holding nothing


Move forward and downward to approach the mat while holding nothing


Transport the object horizontally to the side while rotating the wrist to adjust its orientation


Approach the object from the front while adjusting gripper orientation to align with the object


Pull the object horizontally outward while maintaining contact without enclosing the object


Move forward and rotate wrist freely to reposition for next grasp


Lift the object upward and transport it to the right while holding


Lower the object onto the target surface and open gripper to place it


Move forward and slightly downward to approach the object while holding nothing


Rotate the object to align with the structure while moving it horizontally toward the structure


Retract arm upward and slightly left while holding nothing


Push the object into the target with continuous contact while holding nothing


Continue pushing the object further into the target with sustained contact


Move downward and slightly left while holding nothing to approach the object on the object


Move backward and upward while holding nothing to reposition for next operation


Transport the object horizontally toward the object while holding it


Lower the object downward while reorienting it to align for insertion


Apply pressure downward on a button while maintaining contact and holding nothing


Lift the object vertically while transporting it slightly backward and to the left, maintaining grasp


Rotate the object in mid-air by reorienting the gripper to fold one corner over


Open gripper to place the object down after folding


Reorient the object by tilting the gripper while transporting it slightly left and forward to complete the fold


Close gripper to grasp the object on the rail


Move forward and upward toward the rail again while holding nothing


Close gripper to grasp the second object on the rail


Pull the object horizontally outward while maintaining contact but not fully enclosing it


Open gripper to release and place the object onto the object surface


Transport the held letter toward the left-side arrangement while slightly reorienting to align for placement


Lower the held letter toward the target position in the left pile while maintaining orientation


Lower the object into the object while maintaining grasp


Transport the object upward and slightly backward while rotating wrist to align vertically


Apply downward pressure on the switch while maintaining contact and holding nothing


Move slightly to the right while holding the object


Transport the object toward the object while holding it


Lift the object vertically upward and transport it toward the object while holding it


Transport the object backward while maintaining contact and pulling it along the surface


Move forward and upward toward the bookshelf while holding nothing


Close gripper to grasp the object between books


Transport the object backward away from the object while holding it


Move forward toward the bookshelf again while holding nothing


Close gripper to grasp another object from the object


Move slightly backward and reposition while holding nothing


Lift the object vertically upward and simultaneously move backward away from the object while holding it


Lower the object downward and open gripper to release it onto the surface while holding it until release


Transport the object to the left while rotating wrist to adjust orientation


Remain stationary with gripper in contact with the closed object, holding nothing


Close gripper to grasp the object from below while maintaining contact with the support structure


Lift vertically upward while transporting slightly backward, keeping the object held securely


Move toward the object while holding nothing


Push the object to close it while holding nothing


Move forward toward the object while holding nothing


Lift the object upward and transport it toward the inverted object while holding it


Lift the object vertically upward and transport it toward the object while holding it


Tilt the object downward while moving it over the object to begin pouring, maintaining hold


Hold the tilted posture steadily to allow contents to pour out completely


Move the object away from the object while rotating it back to orientation, still holding


Move downward and slightly forward to approach the object with contents while holding nothing


Close gripper to grasp the object with contents


Move downward and slightly right to approach the object while holding nothing


Open gripper to place the object into the object


Close gripper to grasp the edge of the object again


Lift the object slightly and transport it toward the object while holding it


Open gripper to fully release the object into the object


Move upward and away from the object while holding nothing


Open gripper to release the object onto the object


Open gripper to release the object onto the seat surface


Move downward and forward to approach the tangled object while holding nothing


Lift the grasped object segment vertically and transport it slightly upward and backward while holding


Move laterally and slightly downward to reposition near another object segment while holding nothing


Close gripper to grasp a second object segment


Open gripper to place the object segment down on the object


Move toward a third object segment while holding nothing


Close gripper to grasp another object segment


Lift the grasped object segment vertically while maintaining hold


Open gripper to release the object segment onto the object surface


Adjust position slightly while holding nothing, preparing for next interaction


Transport the object toward the object while rotating the wrist to align its orientation


Transport the object to the left while reorienting it to a horizontal orientation


Tilt the object downward by rotating the gripper to empty its contents


Hold the object in the tilted posture momentarily to complete emptying


Rotate the object back to orientation while moving it toward the right side


Maintain grasp and lift the utensil vertically upward


Transport the utensil to the right while holding it


Re-grasp the object firmly after slight adjustment, maintaining hold


Move slightly downward and left while holding nothing to reposition near the surface


Move forward and upward toward the top object while holding nothing


Rotate the wrist continuously to stir the contents inside the object


Transport the object upward and slightly forward while rotating wrist to align orientation for insertion


Lower the object onto the object surface and apply light pressure to initiate wiping


Open gripper to release the object segment into the object


Move downward and forward to approach remaining object on the surface while holding nothing


Lift the object segment and transport it toward the object while holding it


Retract upward and reposition above the remaining object while holding nothing


Close gripper to grasp the final visible object segment


Move downward and forward to approach the object while holding nothing


Close gripper to grasp another object from the stack


Move downward and forward to approach the first object on the object while holding nothing


Move downward and slightly forward to approach the switch panel while holding nothing


Remain stationary with gripper in contact for a brief moment after pressing


Rotate wrist object-clockwise while holding the object


Lift the object vertically upward and transport it forward toward the appliance while holding it


Retract upward and backward away from the object while holding nothing


Move forward and slightly downward toward the wall while holding nothing


Press the switch on the wall with the gripper while holding nothing


Rotate the object around a horizontal axis to tilt it while holding


Lower the object onto the surface and open gripper to place it


Move forward and upward toward the object while holding nothing


Move downward and slightly forward to approach the object while holding nothing


Tilt the object downward to pour its content, then hold steady to complete pouring


Move forward and slightly left to approach the first sachet while holding nothing


Open gripper to release the object into the frost object


Lift the object upward and transport it toward the frost object while holding it


Maintain grasp and lift vertically upward while transporting slightly to the right


Move forward and downward to approach the device while holding nothing


Move backward and slightly right to approach the left object while holding nothing


Pull the object horizontally outward while maintaining contact but not holding


Move slightly downward and reorient gripper angle while holding nothing to prepare for next grasp


Pull the object inward horizontally while maintaining contact without holding


Lift the object vertically upward and transport it backward toward the object while holding it


Lift the object vertically upward and transport it toward the object while maintaining grasp


Move forward and downward to approach the seasoning object while holding nothing


Close gripper to grasp the object from the object


Transport the object horizontally toward the target while rotating the wrist to align orientation


Open gripper to release the object onto the object


Retract arm downward and forward while holding nothing


Move forward and downward to approach the object on the tabletop while holding nothing


Close gripper to grasp one object from the tabletop


Close gripper to grasp a second object from the tabletop


Retract arm upward and move back toward the tabletop while holding nothing


Lower the object downward while applying gentle pressure to close the object


Transport the object to the left while slightly reorienting to prepare for placement


Transport upward and slightly left while reorienting the object to align with the point


Lift the object vertically upward and transport it toward the object while holding it


Move horizontally to the right and slightly downward to approach the first object while holding nothing


Lift the object upward and transport it toward the object while holding it


Move horizontally to the right and slightly downward to approach the second object while holding nothing


Move forward and slightly downward toward the object while holding nothing


Transport the object to the side while reorienting it to hold it


Push the object open with gripper contact while holding nothing


Lift the object vertically and transport it slightly backward while holding it


Lift the object vertically and transport it backward and slightly right while holding it


Lower the object onto the object and open gripper to place it


Lift the object vertically while maintaining grasp, then move it leftward toward the object


Move forward and slightly right while holding nothing to approach the object on the object


Lower the object downward and open gripper to place it next to the object


Lift the object vertically upward and transport it away from the object


Grasp the object and pull the object inward to close it while holding nothing


Close gripper to grasp the dislodged sachet


Move forward and upward toward the object again while holding nothing


Pull the object backward while maintaining contact without grasping


Lift the object vertically upward and transport it leftward out of the object while holding it


Retract arm upward and backward away from the object while holding nothing


Adjust position laterally to align with the right second object while holding nothing


Pull the object horizontally to the left while maintaining contact and holding nothing


Hold the object in the partially open position without motion


Continue pulling the object to the left until fully open


Lift the object vertically and transport it toward the object while holding it


Rotate the gripper to unfold and orient the object while moving it over the object


Apply gentle pressure to slide the object across the surface while adjusting its orientation


Open gripper to release and place the object on the object


Rotate the wrist back to while transporting the object slightly right and forward


Lower the object onto the object and open gripper to place it


Lift the object vertically upward and transport it out of the object while holding it


Close gripper to grasp the object again inside the object


Move downward and slightly forward to approach the object on the object while holding nothing


Transport the object toward the object while rotating the wrist to align it for placement


Transport the object slightly to the left while holding it


Lower the object downward toward the object surface while maintaining grasp


Open gripper to release and place the object at the right edge of the object


Hold position steadily with object held, maintaining alignment


Close gripper again to re-grasp the object


Transport the object toward the jar while tilting it to match the jar's rim orientation


Open gripper to place the object securely on the jar


Lift the object slightly and move it away from the jar while holding it


Move forward and slightly downward toward the object while holding nothing


Retract backward and upward away from the object while holding nothing


Transport the object to the right while rotating wrist to orient it for placement


Transport the object upward and slightly backward while rotating wrist to fold the object lengthwise


Lower the object downward onto the surface while maintaining grasp


Close gripper to grasp more contents from the object


Transport the toward the object while slightly reorienting the gripper to align with the opening


Move forward and slightly downward to approach the coffee machine while holding nothing


Press the second button on the coffee machine with the gripper tip while holding nothing


Pull the object horizontally outward to open the right object while maintaining contact but not fully enclosing the object


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the middle object while holding nothing before transition


Move upward and leftward to approach the top left object while holding nothing


Push the top left object inward to close it while holding nothing


Transport the object toward the right while rotating the wrist to align its orientation for


Open gripper to place the object back onto the stack


Transport the pen to the left while rotating the wrist to reorient it horizontally


Open gripper to place the pen on the surface


Lift the pen upward and transport it toward the right while holding it


Reorient the pen by tilting the gripper while maintaining hold


Open gripper to place the pen into the object


Move forward and downward toward the object on the object while holding nothing


Transport the object to the right and slightly backward while rotating the gripper to tilt the object downward


Move closer to the object inside the object and adjust gripper orientation while holding nothing


Maintain grasp and lift the object vertically upward out of the object


Transport the object horizontally away from the object while holding it


Move back toward the object while holding nothing


Transport the object horizontally to the right while rotating wrist to orient the brush for rubbing


Lift the grasped item vertically upward and transport it slightly backward while holding it


Open gripper to release and place the item onto the stack while holding it initially


Transport the object toward the object while holding it


Lower the object downward toward the open compartment while holding it


Retract upward and backward away from the compartment while holding nothing


Transport to the left while rotating wrist to adjust orientation of the held object


Move downward and forward to approach the middle object while holding nothing


Close gripper to grasp the object on the middle object


Move downward and slightly forward to approach the left object while holding nothing


Transport the object toward the right while rotating the gripper to align orientation


Move forward and downward to approach the button display while holding nothing


Apply pressure to the third button from the left on the display while holding nothing


Lift the fork upward while tilting it to scoop and retain the contents


Lower the fork into the right object and tilt it to release the contents


Move downward and forward to approach the case while holding nothing


Lower the object into the object slot and open gripper to release it


Move downward and forward to approach the object while holding nothing


Transport the object horizontally to the right while rotating wrist to orient it downward


Transport the object slightly left while rotating wrist to tilt the object upward


Move forward and downward toward the object while holding nothing


Lift the object upward while transporting it horizontally toward the target location


Lower the object gently onto the surface and open gripper to release it in position


Transport the object forward slightly while holding it


Transport the object toward the object while rotating wrist to align orientation for placement


Move downward and forward toward the couch while holding nothing


Transport the marker toward the object while rotating the wrist to align the tip for writing


Lift the marker slightly and transport it away from the object while holding it


Open gripper to release and place the marker back on the object


Lift the object upward and transport it to the right while holding it


Open gripper to place the object against the right armrest


Retract gripper backward and move toward the middle object while holding nothing


Close gripper to grasp the middle object


Open gripper to place the object on the right side of the sofa


Retract gripper backward and reposition toward the left object again while holding nothing


Lift the object and transport it slightly rightward while holding it


Open gripper to place the object in a refined position


Open gripper to place the object firmly on the right side of the sofa


Retract gripper backward and move away from the sofa while holding nothing


Move forward and slightly downward toward the fridge object while holding nothing


Close gripper to grasp the edge of the fridge object


Open gripper to release the fridge object after it is fully closed


Retract backward and upward away from the fridge while holding nothing


Push the object nozzle from right to middle while maintaining contact and holding nothing


Remain stationary with gripper in contact near the object while holding nothing


Move downward and forward to approach the object while holding nothing


Open gripper to release the object onto the object


Move upward and slightly forward toward the object while holding nothing


Push the object inward with continuous contact while holding nothing


Move toward the object on the object while holding nothing


Lift the object upward and transport it toward the open object while holding it


Move laterally to the left while holding nothing


Lift the object upward while transporting it slightly to the right


Close gripper to grasp the pull chain while holding nothing initially


Pull the chain downward while maintaining contact without enclosure


Pull the curtain to the right while maintaining contact without enclosing it


Close gripper to grasp a remaining object


Lift upward and transport horizontally while holding the object


Move downward and forward toward the object while holding nothing


Lower the object downward onto the object surface while holding it


Push the switch upward with the gripper tip while maintaining contact and holding nothing


Lift the object vertically upward and transport it forward toward the object while holding it


Move downward and forward to approach the object while holding nothing


Lift the spherical object upward and transport it toward the target location while holding it


Transport the object slightly backward while rotating wrist to tilt the object for unfolding


Lower the object downward toward the object surface while holding it


Transport the object forward toward the object while holding it


Open gripper to release the object onto the surface above the object


Move downward and slightly left to approach the right object while holding nothing


Retract gripper upward and shift right to approach the object while holding nothing


Close gripper to grasp the object inside the dish dryer


Lift the object vertically upward while holding it


Transport the object to the right while holding it


Open gripper to release and place the object onto the surface


Lift the object upward and transport it toward the storage object while holding it


Open gripper to release the object at the back left side of the object


Transport the object sideways while rotating wrist to orient it horizontally


Transport the object to the left while rotating wrist to unfold it


Reorient the object by tilting the gripper to adjust its orientation while holding it


Transport the object across the surface while maintaining contact and applying light horizontal force to slide it


Move forward and slightly right to approach the next target while holding nothing


Pull the bottom fridge object outward while maintaining contact and holding nothing


Hold position with the object partially open while holding nothing


Apply vertical pressure downward on the target while maintaining contact and holding nothing


Retract upward and backward while holding nothing after completing the press


Move forward and upward toward the washing machine object while holding nothing


Push the washing machine object inward with the gripper while holding nothing


Rotate the object to tilt its opening downward while transporting it leftward over the object surface


Hold the open object steady without motion


Pull the object further open with continued contact


Remain stationary with the object fully open and gripper still in contact


Transport the object toward the object while rotating the wrist to align orientation


Move forward and downward toward the middle object while holding nothing


Move forward and slightly upward toward the dish object while holding nothing


Rotate wrist clockwise while in contact with the object to turn it


Move backward and upward away from the object while holding nothing


Lift the sponge vertically and transport it toward the object while holding it


Open gripper to release the object onto the backrest corner


Transport the object to the right while reorienting to align for


Open gripper to release the second object onto the same backrest corner


Lift vertically upward while transporting slightly to the left, maintaining grasp


Move forward and slightly downward toward the object while holding nothing


Transport the object slightly backward while rotating wrist to align for object opening


Hold posture steady with object held, no motion


Transport the object toward the open object while rotating the wrist to align orientation for placement


Retract end-effector slightly backward and upward while holding nothing


Press the control knob on the breakfast maker while holding nothing


Transport the object backward and slightly right while rotating the gripper freely to align orientation


Reorient the object by tilting the gripper while transporting it toward the object


Move downward and slightly right to approach the scattered object while holding nothing


Close gripper to grasp a object from the pile


Transport the object to the right while slightly reorienting the gripper to stabilize the object


Move forward and downward to approach the third object while holding nothing


Close gripper again to secure the object (re-grasp)


Open gripper to release the object onto the object surface


Close gripper to re-grasp the object from the object


Open gripper to place the object back onto the object surface


Move forward and slightly left while holding nothing to approach the object


Apply horizontal force to the left while maintaining contact with the object to slide the object closed


Move downward and slightly forward to approach the object on the object while holding nothing


Close gripper to grasp the object from the object surface


Lift the object vertically upward while maintaining grasp


Move forward and downward to approach the second object of the object while holding nothing


Move downward and slightly right to approach the object while holding nothing


Pull the object back across the surface horizontally while maintaining contact without grasping


Move forward and upward toward the object on the window ledge while holding nothing


Lift the object vertically upward and transport it backward away from the window while holding it


Apply horizontal force against the surface while maintaining contact to rub it


Transport the object to the left while rotating wrist to tilt it slightly forward


Transport the object forward and slightly upward while holding it


Lower the object downward into the object while maintaining grasp


Pull the object outward horizontally while maintaining contact but not fully enclosing it


Resume pulling the object outward horizontally to open the object further


Move downward and forward toward the object while holding nothing


Lift the grasped object segment vertically upward


Open gripper to release the object segment into the object


Move back toward the remaining object while holding nothing


Close gripper to grasp another segment of the object


Lift the newly grasped object segment vertically upward


Lift the object segment upward and transport it toward the object while holding


Move toward any remaining object pieces while holding nothing


Close gripper to grasp another object segment


Move upward and toward the spice object while holding nothing


Close gripper to grasp a object from the object


Continue pulling the object outward while transporting it further left and slightly upward, maintaining grasp


Move forward toward the object while holding nothing


Transport the object forward while reorienting it to position it for pushing


Lift the object slightly and transport it to the right while holding it


Open gripper to place the object on the object surface


Transport the object to the left front while rotating wrist to align orientation


Push the topmost object on the left inward to close it while maintaining contact and holding nothing


Move downward and forward to approach the object while holding nothing


Press down on the button of the object with the gripper tip while holding nothing


Transport the object toward the target while rotating wrist to adjust orientation


Lift the object vertically upward and transport it toward the central post while holding it


Lower the object downward and open gripper to place it near the target


Transport the object toward the object while rotating wrist to tilt the object downward


Transport the object slightly left and rotate wrist to reorient it while holding


Move downward and forward to approach the laptop while holding nothing


Move downward and forward to approach the tangled object while holding nothing


Lift the grasped object strand upward and transport it slightly to the right while maintaining hold


Close gripper to grasp a second strand of the object


Lift the grasped knot vertically upward to relieve tension and expose the tangle


Open gripper to release the knot back onto the object surface


Retract upward and slightly backward to reassess the object configuration while holding nothing


Transport the grasped strand to the right while reorienting it to align with the other strand and reduce crossing


Hold the object in the open position without movement


Move downward and slightly right to approach the middle object while holding nothing


Close gripper to grasp the zipper pull tab


Open gripper to place the can into the object


Lower the can into the object and open gripper to place it


Move downward and slightly right to approach the object while holding nothing


Close gripper to grasp an object from the object


Transport the object to the left while rotating the wrist to tilt the object for pouring


Open gripper to place the object at the center position


Lift the object upward and transport it toward the center while holding it


Move horizontally to the right and downward to approach the fourth object while holding nothing


Transport the object toward the center while holding it


Move downward and slightly left to approach the fifth object while holding nothing


Move forward and downward to approach the object dial while holding nothing


Rotate wrist freely to align gripper with the top dial while holding nothing


Transport the object to the right and slightly rotate the wrist to align orientation while holding it


Open gripper to release and place the object


Move leftward and slightly backward to approach the fork while holding nothing


Lift the object upward and transport it slightly to the right while holding it


Lift the object vertically upward while holding it


Lower the object onto the object surface and apply gentle pressure while holding it


Move downward and forward toward the -wrapped object while holding nothing


Close gripper to grasp the object inside the while maintaining contact with the


Lift vertically while simultaneously pulling the object upward out of the constraint


Move back upward and slightly left to return to a neutral position while holding nothing


Rotate gripper clockwise around vertical axis while holding the object


Open gripper to release the object onto the structure


Move rightward to approach the object while holding nothing


Move downward and forward toward the object on the object while holding nothing


Press the object tip against the object surface to begin drawing


Transport the object toward the object while rotating the wrist to align orientation


Hold the tilted posture steadily to allow pouring


Lower the empty object downward toward the bed surface while holding it


Retract the end-effector upward and backward away from the bed while holding nothing


Transport the object horizontally away from the object while holding it


Move upward and reorient gripper angle to align with the object again


Pull the object outward further to fully open it while maintaining contact


Lower the object onto the surface and move it in a motion to clean while maintaining contact


Lower the object into the object and open gripper to release it


Move downward and slightly forward while holding nothing to approach the object


Transport the object to the right while rotating wrist to tilt it open


Move forward and downward toward the left object of the top object while holding nothing


Apply horizontal force to the left object of the top object to close it while holding nothing


Adjust position slightly to align with the target object while holding nothing


Open gripper to release and place the object back on the object


Move forward and downward toward the open toy object while holding nothing


Transport the object horizontally toward the object while reorienting it to align with the opening


Move downward and forward toward the object on the object while holding nothing


Transport the object toward the object while rotating the wrist to align its orientation


Push the object to the right while maintaining contact and holding nothing


Lower the object downward while maintaining grasp to position it above the object opening


Lower the object downward and open gripper to place it on the surface


Lift the object upward and transport it toward the object while holding it


Transport the object horizontally toward the object while rotating wrist to position it above the object


Lower the object vertically downward into the object while maintaining grasp


Transport the object forward while rotating wrist to tilt the object opening downward


Transport the object horizontally to the right while holding it


Open gripper to release and place the object on the surface


Transport the object leftward while rotating wrist to align for placement


Apply downward force with gripper tip in contact to push the lever


Press the switch with the gripper tip while holding nothing


Transport the object toward the window while rotating wrist to adjust orientation


Hold the object steady in the tilted posture


Push the object horizontally to the left while maintaining contact and holding nothing


Move upward and backward to clear the object while holding nothing


Move laterally and adjust gripper orientation to approach the object while holding nothing


Close gripper to grasp an object from inside the object


Lift the object slightly and move it horizontally to adjust position while holding


Transport the object horizontally while rotating wrist to fold it


Transport the object upward and backward toward the object while rotating the wrist to align for placement


Retract the end-effector downward and forward away from the object while holding nothing


Maintain grasp and lift the object vertically upward


Tilt the object downward by rotating its orientation while holding it to initiate pouring


Move downward and slightly forward to approach the object while holding nothing


Push and pull the object opening to expose the object inside while holding nothing


Move closer and reorient the gripper to align with the object while holding nothing


Move forward and downward to approach the utensil holder while holding nothing


Move downward and inward into the open object while holding nothing


Lower the object downward onto the surface while holding it


Rotate the object to reorient it while transporting it toward the target location


Move forward and upward toward the object while holding nothing


Remain stationary with gripper in contact with the object, holding nothing


Open gripper to place the object on the surface while holding it


Apply pressure to the first button on the right side while holding nothing


Move slightly to the right while holding nothing


Apply pressure downward on the left button while holding nothing


Move downward and slightly forward to approach the banana while holding nothing


Transport the banana horizontally to the right while holding it


Lower the banana downward and open gripper to place it on the surface


Lift the die upward and transport it to the left while holding it


Lower the die downward and open gripper to place it on the object surface


Move backward and slightly upward while holding nothing to reposition for next operation


Move downward and forward toward another object on the object while holding nothing


Lift the object upward while transporting it slightly toward the head of the bed, maintaining grip


Pull upward on the lever while maintaining contact without enclosure


Lift the object vertically while transporting it backward and slightly left, maintaining grip


Transport the object forward and slightly downward while reorienting to align for insertion


Transport the object toward the target while rotating wrist to align for placement


Lower the object downward into the object while maintaining grasp


Rotate wrist continuously while holding the object inside the object to stir


Lift the object upward out of the object while maintaining grasp


Press the button on the coffee maker with the gripper while holding nothing


Retract backward and upward away from the coffee maker while holding nothing


Move backward and slightly upward away from the object while holding nothing


Move forward and downward toward the object inside the object while holding nothing


Open gripper to place the object into the object


Move forward and downward toward the object in the object while holding nothing


Close gripper to grasp an object from the object


Transport the object forward and slightly left while rotating the wrist to align its orientation


Move forward and downward to approach the knitted object while holding nothing


Close gripper to grasp the knitted object


Push the right switch downward with the gripper while maintaining contact and holding nothing


Pull the left object horizontally outward while maintaining contact and holding nothing


Lift the object vertically upward and transport it slightly backward while holding it


Apply pressure to the right switch element with the gripper while holding nothing


Open gripper to release the object onto the object, completing closure


Move forward and slightly downward to approach the object on the object while holding nothing


Pull the object away from the object while maintaining contact but not yet fully holding it


Transport the object forward and slightly downward while holding it


Open gripper to place the object in its new orientation


Transport the object away from the object while holding it


Lift the object vertically upward and move it toward the target location while holding it


Hold the object in the flipped-open position steadily


Retract upward and slightly forward while holding nothing


Move rightward and slightly downward to approach the second object while holding nothing


Open gripper to release the second object onto the surface


Move rightward and slightly downward to approach the third object while holding nothing


Open gripper to release the third object onto the surface


Maintain grasp and lift the object vertically upward


Transport the object horizontally to the left while holding it


Tilt the object downward by reorienting the gripper while holding it


Lower the object downward while holding it


Open gripper to release and place the object on the surface


Move downward and forward toward the coiled object while holding nothing


Lift the object vertically while transporting it toward the object


Lower the object into the object and open gripper to release it


Open gripper to release the object into the object


Retract upward and slightly left while holding nothing


Lift the object and transport it toward the object while holding it


Pull the object backward while maintaining contact without enclosing it


Move forward and slightly downward toward the object while holding nothing


Pull the object horizontally outward to open the bottom object while maintaining contact without grasping


Transport the object to the left while rotating the wrist to tilt it slightly


Tilt the object by reorienting it to pour contents into the target object


Reorient the object back to while transporting it leftward and slightly backward


Open gripper to place the object back on the object


Press the button on the hood control panel with the gripper while holding nothing


Lower the object downward and open gripper to place it on the left side of the object


Move downward and forward toward the sponge in the object while holding nothing


Push the fork horizontally using the sponge while holding the sponge and maintaining contact


Move forward and downward to approach the nested object while holding nothing


Lift the inner object vertically upward while holding it


Move downward and slightly right to approach the object while holding nothing


Push the curtain to the left while maintaining contact and holding nothing


Close gripper to grasp the light-colored object


Open gripper to release the object onto the back of the object


Move forward and downward toward the object while holding nothing


Lift the object upward and transport it backward toward the object while holding it


Open gripper to release the light object onto the back of the object


Open gripper to release the object into the slot


Lower the object into the object while maintaining grip


Rotate wrist repeatedly in motions while holding the object inside the object to stir


Lift the object vertically out of the object while holding it


Move forward and upward to approach the coffeemaker object while holding nothing


Open gripper to release the object in its fully unfolded state


Transport the object forward while slightly reorienting it to align for placement


Lift the object vertically upward and transport it backward toward the object while holding it


Maintain grasp and lift vertically upward out of the object


Open gripper to release the object near the target location


Move forward and downward to approach the rightmost rod while holding nothing


Move forward and downward toward the object on the object while holding nothing


Open gripper to release and place the object on the right side of the object


Move downward and forward toward the object while holding nothing


Lower the object gently onto the object and open gripper to release it


Pull the grasped layer upward and slightly backward while maintaining contact without enclosure


Close gripper to grasp the object from the object surface


Move forward and downward toward the roll while holding nothing


Open gripper to release the sheet onto the object surface


Extend end-effector forward and apply pressure to the button on the right side of the machine while holding nothing


Move forward and downward to approach the top object while holding nothing


Transport the object to the left while rotating wrist to tilt it slightly outward


Open gripper to release and place the object on the surface


Move forward and downward to approach the object inside the object while holding nothing


Close gripper to grasp the object from the object


Hold posture steady while maintaining grasp on the object


Move downward and slightly right to approach the left object on the object while holding nothing


Close gripper to grasp the left object from the object


Transport the object to the right while rotating the gripper to align the object for placement


Move forward and downward toward the object while holding nothing


Transport the object to the right side of the desk while holding it


Move forward and downward toward the object on the object while holding nothing


Move forward and downward toward the left object in the object while holding nothing


Close gripper to grasp an object from the left object


Close gripper to grasp an object from the right object


Close gripper to grasp another object from the right object


Lift the object and transport it forward and slightly right while holding it


Transport the object horizontally toward the object while rotating wrist to align orientation


Lower the object vertically onto the object and open gripper to release it


Hold position steadily with no motion after placing the object


Move downward and slightly left to approach the left object while holding nothing


Transport forward and slightly right while rotating wrist to align the object for placement


Lift the object upward while rotating wrist to tilt it open


Transport the object forward and slightly left while rotating wrist to orient it horizontally


Pull the zipper pull horizontally to close the zipper while maintaining contact without holding


Close gripper to grasp the zipper pull again


Pull the zipper pull further horizontally to continue closing the zipper while maintaining contact without holding


Close gripper to grasp the zipper pull once more


Pull the zipper pull horizontally to ensure closure while maintaining contact without holding


Make a final horizontal pull on the zipper pull to confirm closure while maintaining contact without holding


Move downward and slightly left while holding nothing to approach the target surface


Close gripper to secure the object after establishing contact


Move downward and slightly forward to approach the object while holding nothing


Move forward and downward toward the tape roll while holding nothing


Move downward and forward to approach the object while holding nothing


Close gripper to grasp the top object from the stack


Transport the object horizontally to the left while holding it


Lift the grasped object vertically upward


Open gripper to place the second object beside the first one on the object


Lift the grasped toy car vertically upward


Transport the toy car toward the two placed object while slightly reorienting its pose to align for placement


Open gripper to place the toy car on top of the two object


Push the object sideways to expose the object underneath while holding nothing


Adjust position slightly downward and forward to align with the exposed object while holding nothing


Lower the object downward and release it onto the surface while holding it initially, then open gripper to place


Lift upward and transport to the right while holding the object


Lift the object vertically upward and transport it toward the object while holding it


Transport the object away from the object and rotate the wrist freely to reposition for release


Open gripper to release the object onto the object surface


Move forward and slightly left to approach the object while holding nothing


Transport the object slightly to the side while rotating wrist to unscrew the object


Move upward and forward toward the upper object while holding nothing


Lift the object vertically upward and transport it forward and downward toward the object while holding it


Lower the object vertically into the left object basin while maintaining grasp


Move downward and slightly right to approach the first object on the object while holding nothing


Lower the object downward and open gripper to place it into the third slot from the right


Apply pressure forward with the gripper tip to press the button while holding nothing


Transport the object upward and backward while rotating wrist to align orientation for stacking


Lift the object vertically upward and transport it forward toward the object while holding it


Move backward and upward away from the object while holding nothing


Move toward the left object while holding nothing


Transport the object to the left while rotating wrist to orient it toward the target surface


Open gripper to place the object back at the original location


Move forward and slightly downward to approach the object while holding nothing


Transport the object to the right while lifting it upward with object held


Open gripper to place the object on the surface


Move backward and slightly left to approach the object while holding nothing


Lift the top object vertically upward with object held


Move downward and forward to approach the object on the left while holding nothing


Transport the object toward the center while rotating the wrist to align its orientation


Retract end-effector upward and rightward while holding nothing


Lift the object vertically while transporting it upward and slightly toward the target location


Lift the object vertically upward and transport it slightly toward the object while holding it


Transport the object toward the object while rotating wrist to align it for mixing


Lower the object into the object while holding it


Rotate wrist repeatedly to mix the contents inside the object while holding the object


Transport the object back toward the object surface while holding it


Open gripper to place the object on the object


Re-grasp the object after repositioning to secure it for folding


Open gripper to release and place the object back on the object in configuration


Move forward and upward toward the top compartment while holding nothing


Push the left object of the top compartment inward while holding nothing


Pull the object horizontally to open the object while maintaining contact


Hold the object steadily with gripper closed, maintaining position without motion


Open gripper to release and place the object inside the object


Move downward and forward to approach the object while holding nothing


Move downward and slightly forward while holding nothing to approach the target object on the object


Close gripper to grasp the next object from the object


Lower the object onto the stack and open gripper to place it


Lift the object vertically upward and transport it toward the open fridge while holding it


Transport the object horizontally into the fridge while slightly reorienting to align with the object


Lower the object downward onto the second object and open gripper to release it


Move forward and downward toward the dishwasher object while holding nothing


Transport the object upward and slightly backward while rotating wrist to tilt the object open-side down


Close gripper to grasp one object from the object


Move forward and downward while adjusting gripper orientation to approach the object inside the object


Transport the object horizontally to the right while rotating the gripper to adjust object orientation


Transport the object to the left while rotating wrist to adjust orientation for placement


Move forward and downward to approach the object inside the object while holding nothing


Move forward and downward to approach the right switch while holding nothing


Rotate wrist clockwise while holding the switch to turn it to the right


Move downward and slightly forward to approach the object on the object while holding nothing


Close gripper to grasp the object with object inside


Lift the object vertically upward while maintaining grasp


Transport the object to the left while rotating wrist to tilt it downward for pouring


Rotate wrist back to orientation and transport the object slightly right and downward


Open gripper to release and place the object back on the object


Move downward and forward toward the first can while holding nothing


Lift the second can vertically upward while holding it


Transport the second can to the left and place it into the object


Move rightward toward the snack bar while holding nothing


Lift the snack bar vertically upward while holding it


Transport the snack bar to the left and place it into the object


Move rightward toward the second snack bar while holding nothing


Open gripper to place the object on the object surface


Move slightly backward and reposition above the object while holding nothing


Move forward and downward to approach the control object while holding nothing


Apply pressure to the left-side button on the object while maintaining contact without holding any object


Move downward and forward to approach the coiled object on the object while holding nothing


Close gripper to grasp the coiled object at the connector end


Remain motionless with gripper in contact with the switch


Lift the object vertically while transporting it backward and slightly to the right, maintaining grip


Lower the object downward toward the object surface while holding it


Transport the object forward and slightly left while rotating wrist to the object


Press the lever on the object downward with the gripper while holding nothing


Apply pressure forward with gripper to trigger the button while holding nothing


Rotate wrist clockwise while holding the switch lever


Transport the object toward the destination while adjusting gripper orientation freely


Transport the object horizontally to the right while rotating wrist to align it for stirring


Move forward and slightly upward toward the object while holding nothing


Remain stationary with gripper in contact with the object, holding nothing


Lift vertically while transporting forward to position above the object with object held


Lower the object into the object while holding it


Tilt the object downward to scoop contents while holding it


Lift upward and transport rightward to move the object with scooped contents toward the target object


Hold the object steady in tilted orientation to allow contents to empty


Transport leftward while reorienting the object back to position with object held


Push the lever downward while maintaining contact without holding it


Open gripper to release the lever and disengage contact


Move forward and downward to approach the object while holding nothing


Lift the object vertically while holding it, then transport it sideways


Transport the object toward the object while rotating wrist to align orientation for placement


Lower the object downward and open gripper to place it on the surface while releasing hold


Reorient the object by tilting it downward while transporting it into the washing machine drum


Open gripper to release the object inside the washing machine


Retract the end-effector upward and backward away from the washing machine while holding nothing


Remain stationary with gripper in contact with the key while holding nothing


Re-close gripper to secure the object after brief release


Transport the object slightly to the right while rotating the wrist to align orientation


Close gripper to grasp the next crumpled


Move downward and slightly forward toward the object while holding nothing


Lift the upward and transport it to the right while holding it


Open gripper to place the near the target location


Close gripper to grasp the target object


Move downward and slightly forward to approach the letter object while holding nothing


Transport the letter object to the right while rotating the wrist to align its orientation


Transport the letter object to the right while adjusting its orientation via wrist rotation


Move downward and forward to approach the cone-shaped object while holding nothing


Open gripper to place the object further away on the object surface


Move downward and forward to approach the object while holding nothing


Pull the object horizontally to the right while maintaining contact but not grasp


Open gripper to release the object inside the target


Move downward and forward toward the two adjacent object while holding nothing


Lift vertically upward while holding the object, then transport toward the object


Move forward and upward while holding nothing to approach the object on the object


Open gripper to place the object at the higher position


Apply downward pressure on the lever with the gripper while holding nothing


Remain stationary with gripper in contact and applying pressure


Move forward and downward to approach the pull-out object while holding nothing


Pull the pull-out object outward while maintaining contact with it and holding nothing


Move downward and slightly forward to approach the object on the object while holding nothing


Lift vertically while transporting slightly backward with object held


Move downward and forward to approach the can while holding nothing


Transport the object forward toward the object while reorienting it to align with the object opening


Push the object front panel horizontally to close the object


Move downward and forward to approach the rod while holding nothing


Lift the rod vertically upward while holding it


Transport the object slightly backward while rotating wrist to disengage it


Move downward and forward to approach the tape roll while holding nothing


Pull the object horizontally backward while maintaining contact but not holding it rigidly


Push the object front forward to close it while maintaining contact without grasping


Move forward and downward to approach the object controller while holding nothing


Apply pressure vertically downward on the object controller with gripper contact while holding nothing


Open gripper to release the object onto the edge of the support structure


Push the left lever downward with the gripper while holding nothing


Transport the object forward and slightly right while rotating wrist to adjust orientation


Move downward and slightly right to approach the object while holding nothing


Lift the object upward and transport it to the right while holding it


Open gripper to place the object on the surface


Move downward and left to approach the object while holding nothing


Lift the object upward and transport it toward the object while holding it


Open gripper to place the object inside the object


Push the object horizontally to open it while holding nothing


Close gripper to grasp the object from the left side


Transport the object further to the right while simultaneously reorienting it to lay


Lower the object onto the object surface and open gripper to place it


Move downward and slightly left to approach the object while holding nothing


Transport the object to the right while rotating it to a stable orientation


Lower the object gently onto the object surface and open gripper to release it


Remain stationary with gripper open above the object


Move forward and slightly upward toward the object while holding nothing


Transport the object horizontally to the right while reorienting it to face downward


Press the first switch on the left with the gripper tip while holding nothing


Move downward and forward toward the tool on the object while holding nothing


Transport the tool to the right while rotating the wrist to align its orientation


Lower the tool downward toward the object while holding it


Move downward and slightly right to approach the object in the right object while holding nothing


Open gripper to place the object into the right object


Move forward and downward to approach the object while holding nothing


Transport the object forward and slightly to the right while rotating the wrist to align orientation


Move downward and slightly left to approach a third letter object while holding nothing


Move downward and slightly left to approach a fourth letter object while holding nothing


Move forward and slightly downward to approach the next target while holding nothing


Hold position steadily with gripper in contact with the object


Remain stationary with gripper maintaining contact on the object


Transport the object toward the object while rotating wrist to align it horizontally


Press the third switch from the left with the end-effector while holding nothing


Apply pressure along the forward direction with no visible displacement to trigger the button


Move downward and forward to approach the two object on the object while holding nothing


Close gripper to grasp the second object (rightmost) while holding the first object


Adjust grip and re-grasp the second object more securely while holding it


Lower the second object vertically and open gripper to place it into the target object


Pull the object inward while maintaining contact without grasp


Move forward and downward to approach the top object while holding nothing


Transport the object to the right while rotating the gripper to tilt the object slightly forward


Lower the object downward and open gripper to place it inside the other object


Lift the object vertically while transporting it toward the object


Extend end-effector forward and apply pressure to the top button on the right side while holding nothing


Lower the object vertically downward and open gripper to release it into the object


Move downward and slightly right while holding nothing to approach the object on the object


Move downward and forward to approach the -and- object while holding nothing


Lower the object downward toward the object while holding it


Lift the object vertically and transport it toward the object while holding it


Move downward and slightly forward to approach the third object while holding nothing


Lower the object into the object and open gripper to release it


Move left and slightly backward to approach the object while holding nothing


Rotate the gripper to tilt the object while maintaining grasp


Lift the object upward, transport it backward and to the right, and reorient it by tilting while holding it


Move forward toward the object while holding nothing


Push the object open with the gripper while holding nothing


Close gripper to grasp the object inside the object


Open gripper to place the object on the object while holding it


Lift the object vertically and transport it outward from the object while holding it


Close gripper to grasp the object on the object


Transport the object toward the object while rotating the wrist to align orientation for release


Move upward and slightly backward while holding nothing to position near the object


Transport the object to the left while rotating the gripper to tilt the object


Move forward and downward toward the lamp switch while holding nothing


Press the lamp switch with the gripper tip while holding nothing


Lift the object upward and transport it forward toward the object while holding it


Retract backward and upward away from the object while holding nothing


Adjust position and gripper orientation to align with the target object inside the crate while holding nothing


Transport the object horizontally away from the crate while holding it


Move upward and toward the window while holding nothing


Pull the object downward while maintaining contact without grasping


Move downward and backward away from the window while holding nothing


Move upward and backward to retreat from the placed object while holding nothing


Close gripper to grasp the object vertically inside the object


Lift the object upward while simultaneously transporting it slightly to the left


Lower the object toward the surface while holding it


Move downward and slightly forward toward the chessboard while holding nothing


Close gripper to grasp an object on the chessboard


Open gripper to release the object onto a new on the chessboard


Move forward and downward toward the object on the object while holding nothing


Close gripper to grasp the object on the object


Move back toward the object while holding nothing


Close gripper to grasp the second object on the object


Transport the object horizontally toward the snacks while rotating wrist to align its orientation for pushing


Move downward and slightly backward to position above the trash chute while holding the object


Move downward and forward toward the object while holding nothing


Move forward and slightly downward toward the object while holding nothing


Move backward and slightly upward away from the object while holding nothing


Close gripper to grasp another object inside the object


Transport the object toward the target location while rotating the wrist to adjust orientation


Open gripper to release the object inside the object


Close gripper to grasp the object from the bottom edge


Lift the object vertically while transporting it slightly backward and upward with object held


Open gripper to place the object onto the surface while maintaining contact during release


Close gripper to grasp the object again near the bottom edge


Lift the object vertically while rotating wrist to fold it upward with object held


Open gripper to place the object onto the surface


Transport the object toward the object while rotating the wrist to align its orientation for insertion


Move downward and slightly forward to approach the object while holding nothing


Transport the object toward the object while rotating the wrist to align it for stirring


Lower the object into the object while holding it


Rotate the wrist repeatedly to stir the contents inside the object while holding the object


Move downward and slightly forward while holding nothing to approach the lamp head


Lower the object onto the left side of the object and apply gentle pressure to make contact


Push the object using the held object while maintaining contact without grasping the object


Move upward and slightly forward to approach the object while holding nothing


Pull the third object from the right outward using contact force while holding nothing


Pull the object outward horizontally while maintaining contact but not fully holding it yet


Continue pulling the object outward with increasing displacement until the object is fully open


Push the object horizontally forward while maintaining contact without grasping


Close gripper to grasp a new object on the surface


Close gripper to grasp another object on the surface


Move forward and slightly right while holding nothing to approach the object


Push the object front inward with continuous contact while holding nothing to close it


Move downward and forward to approach the packaged object while holding nothing


Close gripper to grasp the packaged object


Lift the packaged object upward and transport it to the right while holding it


Open gripper to place the packaged object into the object


Move downward and slightly left to approach the can while holding nothing


Transport the can to the left while holding it


Open gripper to place the can into the light object


Move downward and slightly right to approach the second packaged object while holding nothing


Close gripper to grasp the second packaged object


Lift the second packaged object upward and transport it to the right while holding it


Push the object inward horizontally with continuous contact while holding nothing


Move downward and slightly forward to approach the object nozzle while holding nothing


Rotate wrist clockwise while holding the object nozzle to turn it to the right


Move downward and forward to approach the rightmost object while holding nothing


Transport the object to the left while rotating the gripper to align the object horizontally


Move forward and downward toward the eraser while holding nothing


Transport the eraser away from the object while holding it


Move downward and slightly left to approach the measuring object while holding nothing


Close gripper to grasp the measuring object


Open gripper to release the object onto the object surface


Move downward and slightly left to approach the object while holding nothing


Transport the object to the left while holding it


Lift the object and transport it toward the object while holding it


Open gripper to place the object into the object


Transport the object toward the object while rotating wrist to align the object for wiping


Push the object across the surface of the object while maintaining contact and holding the object


Open gripper to release the object onto the object


Transport the object upward and slightly backward while rotating wrist to align with opening


Move downward and slightly forward while holding nothing to approach the object on the surface


Apply downward pressure on the top button while maintaining contact without grasping


Lower the object into the object and open gripper to release it


Move right and slightly forward to approach the object while holding nothing


Move forward and slightly left to approach the object while holding nothing


Move forward and downward to approach the zipper pull while holding nothing


Retract backward and upward to disengage from the zipper while holding nothing


Move forward and upward while holding nothing to approach the object


Push the right object outward with the gripper while holding nothing


Pull the right object further open with the gripper while holding nothing


Lift the object vertically and transport it leftward while holding it


Push the object across the surface in contact, sliding it under the object


Open gripper to place the object on the target surface


Move downward and forward to approach the switch on the front of the object while holding nothing


Apply downward pressure on the switch at the front of the object while maintaining contact and holding nothing


Move downward and forward to approach the object while holding nothing


Apply pressure directly onto the switch with the gripper tip while holding nothing


Transport the second object to the left while holding it


Move forward and slightly downward to approach the object on the object while holding nothing


Continue pushing the object inward with sustained contact while holding nothing until fully closed


Transport the object backward while rotating wrist slightly to align orientation


Move downward and forward to approach the scattered object on the object while holding nothing


Push an object horizontally to the left while maintaining contact but not grasping


Move slightly backward and adjust position to align with a new target object while holding nothing


Close gripper to grasp a second object from the object


Lift the object vertically and transport it forward while maintaining grasp


Rotate the gripper to tilt the object downward while holding it steady


Pull the object backward to close the object while maintaining contact without holding


Move forward and downward toward the hanger while holding nothing


Move forward and downward to approach the object while holding nothing


Push the object nozzle to the left while maintaining contact and holding nothing


Press a key on the keyboard with the gripper tip while holding nothing


Lift upward and retract backward away from the keyboard while holding nothing


Press the top object of the coffee maker downward with the gripper while holding nothing


Hold position steadily with gripper in contact with the object


Move downward and slightly right to approach the while holding nothing


Lift the vertically and transport it leftward toward the object while holding it


Open gripper to place the into the object


Lift the lemon vertically and transport it leftward toward the object while holding it


Open gripper to place the lemon into the object


Move forward and downward toward the -capped object while holding nothing


Close gripper to grasp the -capped object


Move downward and forward to approach the object while holding nothing


Move downward and slightly right to approach the object while holding nothing


Move horizontally to the right while holding nothing to approach the piece on the object


Lift the piece vertically and transport it to the right while holding it


Open gripper to place the piece on the target


Move away from the object toward the beige pieces while holding nothing


Close gripper to grasp the first beige piece


Close gripper to grasp the second beige piece


Lift the second beige piece vertically and transport it toward the object while holding it


Move downward and forward toward the object surface while holding nothing


Close gripper to grasp a -wrapped object on the object


Close gripper to grasp a second -wrapped object on the object


Open gripper to release and place the object inside the object


Move downward and forward toward the left object while holding nothing


Move downward and forward toward the object while holding nothing


Transport the object horizontally to the right while holding it


Open gripper to place the object into the object


Move backward and slightly left to approach the object while holding nothing


Transport the object toward the left while rotating the wrist to align it for placement


Lift the object vertically upward and simultaneously transport it toward the object while holding it


Pull the object horizontally outward to open the object while maintaining contact


Transport the object to the right while rotating the wrist slightly to adjust orientation


Move leftward and downward to approach the object while holding nothing


Lift the object vertically while transporting it toward the object


Lower the object onto the object surface and open gripper to release it


Apply downward pressure on a button of the object control while maintaining contact and holding nothing


Open gripper to place the object onto the first object


Move upward and slightly left while holding nothing to approach the window area


Close gripper to grasp the window object again


Retract backward and downward to clear the object while holding nothing


Move downward and slightly right to approach the object while holding nothing


Open gripper to place the object on top of the object


Open gripper to release and place the object onto the object surface


Re-grasp the object to secure it after reorientation


Grasp the object once more after brief pause


Lift the object vertically while maintaining grip


Move downward and forward to approach the object on the object while holding nothing


Transport the object horizontally toward the object while holding it


Move forward and downward toward the utensil object while holding nothing


Move downward and forward toward the object while holding nothing


Transport the object to the right while holding it


Lower the object downward while holding it


Open gripper to place the object on the object


Move downward and slightly forward to approach the object while holding nothing


Close gripper to grasp the object inside the object


Lift the object vertically upward and move it slightly leftward while holding it


Open gripper to release and place the object on the object surface


Move forward and downward toward the laptop keyboard while holding nothing


Apply downward pressure on a key on the keyboard with the gripper tip while holding nothing


Transport the object slightly left while rotating wrist to align for wiping


Lower the object onto the surface and apply gentle pressure while maintaining contact


Perform back-and-forth horizontal sliding motions while maintaining contact to wipe the surface


Move upward and slightly backward while holding nothing to approach the object


Remain stationary with gripper in contact with the open object while holding nothing


Lift vertically while rotating wrist to open the object


Transport the object toward the object while rotating the wrist to align its orientation for insertion


Lower the object into the object while maintaining grip


Open gripper to release the object inside the object


Retract the end-effector upward and backward away from the object while holding nothing


Slide the object back and forth across the object surface while maintaining contact


Lift the object off the object and transport it away to the side while holding it


Transport the object to the right while rotating wrist to orient it for disposal


Transport the object slightly left while rotating wrist to tilt it


Move downward and forward toward the open object while holding nothing


Move forward and slightly downward to approach the open object while holding nothing


Lift the object upward while rotating it to align with the object opening


Lower the object vertically downward and open gripper to release it into the target slot


Move downward and slightly left to approach the object again while holding nothing


Move downward and slightly forward to approach the coiled object on the object while holding nothing


Lift the grasped end of the object vertically and move it slightly backward while maintaining hold


Transport the object to the right while slightly rotating the gripper to adjust orientation for straightening


Transport the object horizontally toward the object while rotating wrist to position it over the object


Rotate wrist clockwise while holding the object inside the object to mix the contents


Lower the object downward and open gripper to place it on the right side


Push the object upward while maintaining contact and holding nothing


Move downward and slightly forward to approach the object while holding nothing


Open gripper to release the object onto the right object


Transport the object horizontally backward while maintaining contact and applying force to slide the right object backward


Open gripper to release the object after moving the object


Close gripper to grasp the object once more


Move upward and slightly forward while holding nothing to approach the hanger


Transport upward and slightly left while reorienting the hanger to hang it on the object


Move forward and upward while holding nothing to approach the object


Move downward and slightly forward to approach the scattered items while holding nothing


Close gripper to grasp one item from the object surface


Transport the item toward the object while rotating the wrist to align the item for dropping


Close gripper to grasp a second item from the object surface