Rotate the gripper around its axis while holding the object to reorient it for folding


Move upward and backward to reposition while holding nothing


Lift the object slightly and transport it horizontally to complete the fold while holding it


Transport the object horizontally to the right while slightly reorienting to stabilize its pose


Move forward and downward to approach the object while holding nothing


Lift the object upward, transport it to the right, and reorient it to tilt for pouring while holding it


Open gripper to place the object back on the surface


Close gripper to grasp the object from the object


Reorient the object while holding it and lower it onto the backrest of the object


Open gripper to release the object onto the backrest


Move downward and forward to approach the scissors while holding nothing


Lift the scissors vertically upward while holding them


Maintain grasp and tilt the object downward to initiate pouring


Move forward and downward to approach the lever while holding nothing


Press down on the lever with the gripper while holding nothing


Retract upward and backward away from the lever while holding nothing


Move downward and forward toward the can while holding nothing


Lift the can vertically upward while holding it


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


Move upward and backward away from the object while holding nothing


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


Lower the object downward while maintaining grip


Move forward and downward toward the open object while holding nothing


Push the object inward along its hinge axis to close it while maintaining contact and holding nothing


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


Retract backward and upward away from the object while holding nothing


Close gripper to grasp the object around the stake


Maintain grasp and lift vertically upward to remove the object from the stake


Retract upward and backward away from the object while holding nothing


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


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


Move upward and slightly right while holding nothing to approach the cupboard object


Push the top right cupboard object outward with the gripper while holding nothing


Close gripper to grasp the cupboard object


Maintain grasp and pull the object outward while transporting slightly downward to fully open it


Open gripper to release the object while holding nothing


Move forward and downward to approach the object while holding nothing


Lift the object vertically upward while holding it


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


Reorient the object back to while transporting it slightly rightward


Open gripper to place the object down on the surface


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


Retract backward and slightly right while holding nothing away from the object


Lower the object downward while holding it


Open gripper to place the object on the surface


Rotate the object to align its orientation while transporting it closer to the drying object


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


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


Move upward and slightly forward while holding nothing


Apply downward pressure with gripper to close the object


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


Close gripper to grasp the crumpled object


Pull the object outward to open the object while holding nothing


Lower the object into the object and open gripper to release it while holding it until release


Transport the object slightly forward while rotating wrist to orient it for wiping


Lower the object downward and apply light pressure onto the surface


Close gripper to re-grasp the object firmly


Close gripper to secure the object once more


Transport the object horizontally toward the trash can while holding it


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


Move horizontally toward the object and adjust gripper orientation while holding nothing


Push the object downward using the gripper while maintaining contact but not grasping


Remain stationary with gripper in contact with the object to ensure closure


Apply pressure forward onto a protruding element while holding nothing


Retract backward and upward while holding nothing


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


Transport the object forward and slightly left toward the object while holding it


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


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


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


Close gripper to grasp the object at the desk edge


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


Retract the end-effector backward and slightly left while holding nothing


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


Lower the object into the top object and open gripper to release it while holding steady


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


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


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


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


Lift the object vertically while transporting it slightly upward and backward out of the object


Open gripper to release the object back into the object


Retract gripper upward and slightly backward while holding nothing


Move downward and forward while pushing the object to reposition it


Move forward and upward toward the wall-mounted switch while holding nothing


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


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


Close gripper to grasp the next object from the object opening


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


Close gripper to grasp a light-colored object from the seat


Move downward and slightly rightward toward another object on the seat while holding nothing


Close gripper to grasp a dark-colored object from the seat


Transport the object toward the armrest while rotating wrist to adjust orientation for


Move forward and downward toward the storage object while holding nothing


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


Transport the object backward while slightly reorienting it to maintain stable grip


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


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


Close gripper to grasp the object from the object


Move forward toward the object while holding nothing


Pull the left object outward while maintaining contact with the object


Hold the open position of the left object without motion


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


Push the laptop screen downward along its hinge axis while maintaining contact and holding nothing


Lower the object onto the surface and apply horizontal force to slide it across while maintaining contact


Move forward and downward toward the object while holding nothing


Transport the object horizontally toward the object while holding it


Lower the object downward onto the object while holding it


Open gripper to release and place the object onto the object


Transport the object to the right while rotating the wrist to reorient it horizontally


Move downward and forward toward the object while holding nothing


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


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


Apply horizontal force forward with gripper in contact to close the object while holding nothing


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


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


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


Reorient the flap upward while transporting it slightly to the right, maintaining grasp


Move upward and slightly right to reposition while holding nothing


Maintain grasp, lift slightly and move leftward to reposition the object


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


Lift the grasped object vertically upward


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


Move downward and forward to approach the object while holding nothing


Lift the object upward while transporting it slightly backward and to the right, maintaining grasp


Pull the object horizontally while reorienting it to unfold its structure


Close gripper to grasp another section of the object


Apply pressure with gripper to turn the knob while holding nothing


Move forward and downward toward the middle object while holding nothing


Close gripper to grasp the object from the middle object


Transport the object horizontally forward toward the object while holding it


Close gripper to grasp the object on the object


Lower the object downward while holding it


Open gripper to place the object onto the target surface


Open gripper to release the object onto the stack


Open gripper to place the object on top of the stack


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


Open gripper to release the object inside the upper compartment


Retract end-effector downward and forward while holding nothing


Move upward and forward while holding nothing to approach the object


Close gripper to grasp the object while maintaining contact


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


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


Remain stationary with gripper in contact and holding nothing


Lift the gripper vertically upward while holding nothing


Move forward and downward toward the open food pack while holding nothing


Close gripper to grasp the object of the food pack


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


Open gripper to place the object onto the food pack


Apply gentle downward pressure on the object to secure it onto the food pack while holding nothing


Lower the object downward while maintaining grasp and orientation


Move downward and forward to approach the object while holding nothing


Lower the object onto the object surface and apply horizontal force to spread it across the surface


Hold posture steady while maintaining contact with the object on the object


Lift the object vertically while transporting it slightly forward and to the right


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


Pull the washing machine object outward to open it while holding nothing


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


Lift the object vertically and transport it toward the open washing machine while holding it


Lower the object into the drum and open gripper to release it inside while holding it until release


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


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


Transport the grasped edge horizontally to fold the object once


Open gripper to release the edge onto the surface


Transport the grasped edge horizontally to fold the object a second time


Close gripper to grasp the object while it is


Open gripper to release the object onto the object surface


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


Apply pressure vertically downward on the top right button while holding nothing


Remain stationary with gripper in contact and no motion


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


Push the upper object outward with the gripper while holding nothing


Lower the object gently toward the surface to position it for forming the word


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


Rotate the gripper to adjust the object’s orientation while holding it


Reorient the object while holding, then lower it into position


Place the object down to continue forming the word


Lower the object and place it to complete the word formation


Lift the object upward and transport it backward while holding it


Rotate wrist axially and reorient the object by tilting it while holding


Lift the object vertically upward while holding it


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


Open gripper to place the object on the object backrest


Move downward and forward toward the object while holding nothing


Move forward and downward toward the object while holding nothing


Transport the object forward toward the object while holding it


Open gripper to place the object into the object slot


Lower the object downward while holding it


Move backward and slightly right while holding nothing


Rotate the gripper freely to adjust orientation while holding nothing


Move forward and upward toward the object while holding nothing


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


Remain stationary with gripper open near the opened object


Move forward and upward toward the first object while holding nothing


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


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


Transport the object back toward the original location while reorienting to prepare for placement


Open gripper to release and place the object down


Move forward and downward to approach the object while holding nothing


Adjust position and wrist angle to align with a object in the object while holding nothing


Close gripper to grasp the object from the object


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


Maintain grasp, lift upward, and move horizontally to the left while holding the object


Maintain grasp and rotate the object to change its orientation while holding it


Apply pressure forward with the held object against the target surface to trigger a button


Move forward and slightly downward toward the object while holding nothing


Push the object inward with the gripper while holding nothing


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


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


Open gripper to place the object into the object


Retract upward and move rightward to approach the object while holding nothing


Open gripper to place the item into the object


Move downward and forward to approach the object while holding nothing


Transport the object to the side while rotating wrist to orient it horizontally for placement


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


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


Tilt the object downward by rotating the gripper to pour contents into the left object


Close gripper to grasp an object inside the object


Close gripper to grasp a third object inside the object


Move toward the object while holding nothing


Lift the object vertically upward while holding it


Transport the object to the right while holding it


Lower the object onto the object surface and apply gentle pressure to wipe


Move downward and forward toward the object while holding nothing


Transport the object to the left while rotating the wrist to orient it for


Open gripper to release the object onto the backrest support


Move downward and slightly right toward the object while holding nothing


Lower the object downward and release it onto the seat surface


Transport the object toward the target location while rotating the gripper to align the object orientation for insertion


Lower the object downward into the target while opening gripper to release it


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


Move downward and forward to approach the object while holding nothing


Close gripper to grasp the object inside the object


Transport the object horizontally to the left while holding it


Transport the object slightly backward while rotating the wrist to reorient it horizontally


Move toward the middle left object while holding nothing


Push the middle left object inward with continuous contact while holding nothing


Rotate wrist freely to reorient gripper for next operation while holding nothing


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


Maintain grasp and lift the object vertically upward


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


Move forward and downward toward the object while holding nothing


Move forward toward the object while holding nothing


Push the object inward to close it while maintaining contact


Move forward and upward toward the middle top object while holding nothing


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


Push the right object inward to close it while maintaining contact and holding nothing


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


Open gripper to release the object immediately after grasping


Close gripper to grasp the object from the object


Transport the object forward while rotating wrist to reorient it horizontally


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


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


Lower the object downward toward the object while holding it


Move forward and downward to approach the object while holding nothing


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


Reorient the object to align with the object surface and press gently against it


Move slightly away from the object while holding the object


Open gripper to release the object onto the object


Lift the object upward and move it slightly forward while holding it


Pull the object open with gripper contact while holding nothing


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


Move upward and slightly left while holding nothing to clear the workspace


Move downward and forward toward the object while holding nothing


Move back toward the dishwasher while holding nothing


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


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


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


Move forward and upward into the open object while holding nothing


Hold posture steady while maintaining grasp on the object


Lower the object downward toward the hook while holding it


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


Open gripper to place the first object on top of the object


Rotate the gripper to reorient the object while transporting it slightly leftward and upward


Open gripper to place the second object on top of the first one


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


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


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


Move downward and forward to approach the pen while holding nothing


Maintain grasp and lift the pen vertically upward


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


Lower the pen downward while maintaining grasp


Open gripper to release the pen into the target


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


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


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


Close gripper to grasp the top object of the stack


Transport the object horizontally to the left while holding it


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


Retract end-effector upward and backward to clear the workspace while holding nothing


Move downward and slightly forward while holding nothing


Close gripper to grasp a dark object item inside the object


Lift the object item vertically upward and transport it leftward away from the object while holding it


Close gripper to grasp a object with object inside the object


Lift the object upward and transport it rightward while holding it


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


Move downward and slightly leftward toward the object while holding nothing


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


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


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


Contact the object control with the napkin and apply gentle pressure while sliding across its surface


Retract the napkin away from the object control while adjusting orientation to avoid dragging


Open gripper to release the napkin onto the object surface


Move downward and forward to approach the top of the device while holding nothing


Apply downward pressure on the top surface of the device while maintaining contact and holding nothing


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


Move forward and right while holding nothing to approach the object


Close gripper to grasp the tool inside the object


Lift the tool vertically while holding it


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


Close gripper to grasp the object from the stand


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


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


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


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


Move forward and downward toward the object while holding nothing


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


Move downward and slightly left toward the object surface while holding the object


Push the object across the object surface horizontally while maintaining contact and holding nothing


Move forward toward the object area while holding nothing


Close gripper to grasp an object inside the object


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


Reorient the object back to while transporting it away from the object


Move downward and forward to approach the object while holding nothing


Move forward and downward toward the sachets object while holding nothing


Close gripper to grasp a sachet from inside the object


Lift the sachet vertically upward and move it slightly backward while holding it


Open gripper to place the second sachet on the object surface


Move downward and slightly forward toward the object while holding nothing


Close gripper to grasp an object from inside the object


Close gripper to grasp another object from inside the object


Lift the object upward and move it horizontally to the right while holding it


Close gripper to grasp a third object from inside the object


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


Push the top of the object on the left of the object while holding nothing


Move forward and downward toward the sachets while holding nothing


Close gripper to grasp a sachet from the object


Lift the sachet vertically upward and transport it backward and slightly to the right while holding it


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


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


Transport the object slightly to the left while rotating the wrist to adjust orientation for knot formation


Move downward and slightly right to reposition toward another segment of the object


Lift the object upward and transport it diagonally to the left while holding


Open gripper to place the object segment down, forming part of the knot structure


Move downward and forward to approach the intersection point of the object segments


Reorient the object by tilting the gripper and rotate the wrist to tighten the loop into a knot


Open gripper to release the completed knot onto the object


Lift the object upward while rotating wrist to unfold it


Open gripper to release the object in its opened state


Move downward and forward while holding nothing, adjusting gripper orientation to align with the object inside the object


Close gripper to grasp the object from within the object


Transport the object horizontally to the right while slightly reorienting it to prepare for placement


Move forward and downward toward the utensil holder while holding nothing


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


Adjust position slightly upward and backward to align with the target object inside the object while holding nothing


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


Move forward and downward toward the object while holding nothing


Rotate wrist clockwise while holding the object


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


Rotate the gripper wrist freely to align for next operation while holding nothing


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


Lower the object downward toward the object while maintaining grip


Open gripper to release and place the object onto the object


Extend forward and press the second right button from the bottom of the object panel while holding nothing


Retract backward and downward away from the object while holding nothing


Move downward and forward toward the object while holding nothing


Move forward and downward while rotating wrist to align for next grasp


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


Close gripper to grasp the first object on the object


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


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


Close gripper to grasp the -tagged object


Move backward and slightly upward to clear the workspace while holding nothing


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


Move downward and forward to approach the object while holding nothing


Lift the object upward while rotating it to begin unfolding


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


Move downward and forward toward the appliance while holding nothing


Apply pressure to a button on the appliance with the end-effector while holding nothing


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


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


Transport the second object to the left while holding it


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


Push the object inward to close it while maintaining contact with the object and holding nothing


Push the object upward with contact while holding nothing


Move downward and forward to approach the brush while holding nothing


Transport the brush horizontally toward the scattered object while adjusting wrist orientation freely


Push the object across the object surface using the brush while maintaining contact and holding nothing else


Lower the object onto the object and apply gentle downward pressure to secure it


Transport the object horizontally to the left while rotating wrist to tilt the object outward


Apply downward pressure on the left side of the object without releasing grip


Move forward and downward to approach the object while holding nothing


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


Open gripper to place the object onto the object surface


Transport the object horizontally to the right while holding it


Open gripper to place the object at the new position


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


Move downward and forward toward the bed surface while holding nothing


Close gripper to grasp another section of the object


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


Move forward and downward to approach the keyboard while holding nothing


Apply downward pressure on a key with gripper tips while holding nothing


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


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


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


Open gripper to release the second object into the object


Transport the object forward while rotating wrist to align it


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


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


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


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


Lower the object into the object while holding it


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


Pull the object inward while rotating the wrist slightly to align it with the frame


Apply gentle pressure to push the object fully shut


Transport the object horizontally toward the center of the workspace while holding it


Lower the object downward and open gripper to place it at the target location


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


Maintain grasp and lift vertically while rotating the object to orientation


Move forward and downward to approach the object while holding nothing


Lift the object upward while rotating it to fold it


Lift the tin slightly and transport it to the left while holding it


Lift the object vertically while rotating the wrist to reorient it


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


Move back toward the storage object while holding nothing


Close gripper to grasp a second object inside the object


Move forward and upward toward the open object while holding nothing


Lift the object upward while transporting it slightly backward and to the left


Rotate the object by tilting the gripper to reorient it while holding


Open gripper to place the object down while maintaining position


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


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


Lower the object downward while maintaining grasp, positioning it near the object


Close gripper to grasp the object from the holder


Transport the object backward and slightly left while rotating wrist to tilt the object downward


Move downward and forward to approach the object while holding nothing


Move back toward the object while holding nothing


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


Move forward and downward to approach the object while holding nothing


Pull the object horizontally outward while maintaining contact and holding nothing


Apply forward pressure with the object against the power socket switch while holding nothing (gripper open, object held by environment)


Retract upward and backward away from the target while holding nothing


Transport the object slightly forward while rotating wrist to adjust orientation for wiping


Lower the object onto the object surface and apply horizontal force to slide it across the surface


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


Move downward and forward while holding nothing to approach the target


Lift the object vertically while rotating it to an orientation


Move forward and upward toward the object while holding nothing


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


Rotate the gripper to reorient the object while holding it


Transport the object horizontally to the left while holding it


Open gripper to release and place the object onto the hanger


Move downward and forward to approach the object while holding nothing


Open gripper to place the object on the surface


Lift the grasped object vertically upward


Close gripper to grasp the next object in the stack


Lift the second object vertically upward while holding it


Apply downward pressure on the switch lever while maintaining contact without enclosure


Rotate wrist to return object to orientation while transporting back toward original location


Move forward and downward toward the object while holding nothing


Move downward and forward toward the object while holding nothing


Close gripper to grasp an object inside the object


Lift the newly grasped object vertically upward while maintaining grasp


Transport the object to the right while rotating wrist to extract it from the object


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


Close gripper to grasp the object inside the middle object


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


Open gripper to release the object onto the surface below


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


Lower the object downward and place it onto the target surface while releasing grip


Move right to approach the next object while holding nothing


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


Move right to approach the final object while holding nothing


Rotate wrist to return object to orientation while transporting back toward original position


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


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


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


Hold posture steady with object held to allow contents to pour out


Move forward and downward to approach the item while holding nothing


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


Reorient the object by tilting it downward while transporting it toward the target surface


Transport the object slightly forward while rotating wrist to align pump vertically


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


Transport the object horizontally backward and slightly downward while holding it


Lower the object vertically downward toward the bottom object while holding it


Lift the object vertically upward and transport it slightly to the left while holding it


Hold position steadily with object in contact and held lightly


Transport the object toward the book while reorienting it to align for cleaning


Press the object against the surface while maintaining contact without lifting


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


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


Open gripper to release the object onto the object back while maintaining contact briefly


Transport the object toward the back-right while rotating the gripper to adjust orientation


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


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


Move forward and downward to approach the object while holding nothing


Lift the object upward and transport it forward while holding it


Open gripper to place the object forward on the surface


Move backward and slightly 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


Open gripper to place the object inside the object alongside the object


Remain stationary with gripper in contact and object slightly displaced


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


Close gripper to grasp the object from the object


Transport the object forward and slightly left while reorienting it to a stable posture


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


Transport the object to the left while slightly reorienting it to maintain stable grip


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


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


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


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


Maintain grasp and rotate the object to adjust its orientation


Withdraw backward and upward while holding nothing


Move forward and slightly downward toward the wall switch while holding nothing


Retract backward away from the wall switch while holding nothing


Move slightly left and rotate wrist freely to align with the top right object


Push the top right object outward using the gripper while holding nothing


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


Push the object horizontally across the surface while maintaining contact and holding nothing


Maintain grasp and tilt the object downward by rotating wrist pitch


Hold posture steady to allow contents to empty


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


Push the object across the surface in a sweeping motion while maintaining contact


Open gripper to release and place the object onto the target structure


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


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


Close gripper to grasp the object from the object


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


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


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


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


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


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


Lift the grasped object vertically upward


Move forward and downward toward the object while holding nothing


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


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


Lift the napkin vertically upward while holding it


Transport the napkin toward the book while reorienting it to a wiping posture


Press the napkin against the surface of the object while maintaining contact


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


Open gripper to release and place the object onto the last column


Move forward toward the object while holding nothing


Push the object forward while maintaining contact and holding nothing


Transport the object forward and slightly left while rotating wrist to align for stirring


Rotate wrist continuously in a motion while holding the object inside the object


Push the left object inward to close it while holding nothing


Move forward and slightly downward toward the object while holding nothing


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


Retract arm upward and backward while holding nothing


Transport the object forward while rotating wrist to reorient it


Push the exposed object outward from the object opening while maintaining contact and holding nothing


Close gripper to grasp the protruding object while transitioning to holding state


Open gripper to release the object onto the surface while transitioning to empty state


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


Open gripper to place the object inside the object


Close gripper to grasp one edge of the object on the object


Lift the object slightly and rotate the gripper to reorient the object for folding


Open gripper to place the object down in a partially configuration


Remain stationary with gripper open above the object


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


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


Transport the object backward while rotating wrist to adjust orientation


Move downward and slightly forward toward the object while holding nothing


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


Open gripper to release the object onto the object backrest while holding it initially


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the object on the object


Move downward and forward to approach the object while holding nothing


Lift the object upward while transporting it slightly backward and to the right, maintaining grasp


Lower the object vertically toward the object while holding it


Move forward and downward to approach the pencil while holding nothing


Lift the pencil vertically upward while holding it


Transport the pencil horizontally toward the while reorienting the gripper to position the pencil tip downward


Lower the pencil tip onto the and apply light pressure to maintain contact


Rotate the wrist slowly to trace a path around the object while maintaining contact with the


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


Press a button on the object control with the gripper tip while holding nothing


Move forward and downward to approach the object draped over the stand while holding nothing


Close gripper to grasp the object at the top edge while it is still on the stand


Lift the object vertically upward and simultaneously move backward to detach it from the stand while holding it


Move downward and slightly forward toward the object while holding nothing


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


Remain stationary with gripper open, confirming the object is closed


Transport the object slightly forward and rotate wrist to flatten it while holding


Lower the object onto the object surface and apply light pressure to maintain contact


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


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


Open gripper to release the object inside the object


Retract end-effector downward and backward while holding nothing


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


Lift the newly grasped object vertically upward while holding it


Maintain grasp and lift vertically upward to extract the object from the object


Transport the object horizontally away from the object while holding it


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


Close gripper to grasp the crumpled object


Transport the object forward and slightly left while rotating wrist to align for disposal


Transport the object horizontally to the right while rotating wrist to reorient it


Move forward and upward while holding nothing to approach the object


Lift the object vertically while transporting it slightly to the right, maintaining grasp


Transport the object horizontally to the right while reorienting it to align with the rail


Open gripper to release and place the object on the rail


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


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


Open gripper to place the object inside the object


Move back toward the object surface to locate remaining object segments while holding nothing


Lift the object vertically while holding it


Open gripper to release the object into the object


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


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


Apply downward pressure on the top of the device while holding nothing


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


Transport the object horizontally to the right while holding it


Tilt the object downward by rotating the gripper to pour contents into the target location


Hold the tilted posture steadily to allow complete pouring


Push the top of the object horizontally while maintaining contact and holding nothing


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


Maintain grasp and lift the object vertically upward


Transport the object backward and slightly left while rotating wrist to stabilize orientation


Lower the object downward and open gripper to release it onto a new location


Rotate wrist back to orientation while transporting rightward


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


Move forward and slightly downward to approach the second rod while holding nothing


Push the second rod further to the left while holding it


Move forward and slightly right while holding nothing to approach the wall-mounted switch


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


Retract backward and slightly left while holding nothing after completing the press


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


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


Push the object front forward along its track while maintaining contact with the object


Push the object front horizontally inward while maintaining contact and holding nothing


Move downward and slightly forward toward the stovetop while holding nothing


Close gripper to grasp the object on the stovetop


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


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


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


Move downward and forward toward the open object while holding nothing


Lift the object upward while rotating it to align for closing


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


Push the object backward along the surface while maintaining contact and holding nothing


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


Push the object inward with continuous contact while holding nothing


Move forward and downward to approach the object while holding nothing


Push down the right switch on the object with the gripper while holding nothing


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


Remain stationary with no motion while holding nothing


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


Move downward and forward toward the banana while holding nothing


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


Lower the banana into the object while maintaining grip


Open gripper to release and place the banana inside the object


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


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


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


Transport the object horizontally to the right toward the object while holding it


Lower the object downward into the object while holding it


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


Move upward and backward away from the object while holding nothing


Move upward and toward the object while holding nothing


Transport the object to the left while holding it


Push the surface horizontally to the left using the object while maintaining contact


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


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


Hold position steadily with gripper still in contact with the object


Continue pulling the object outward while slightly rotating the wrist to align with the object's opening motion


Retract end-effector backward and downward while holding nothing


Transport the object horizontally to the center of the object while holding it


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


Move forward and downward to approach the object while holding nothing


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


Retract backward and upward away from the object while holding nothing


Close gripper to grasp the object in the object


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


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


Open gripper to place the object on a surface to the right


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


Close gripper to grasp the object inside the upper object


Maintain grasp and lift vertically upward to extract the object from the object


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


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


Move upward and forward toward the open object while holding nothing


Transport the object horizontally downward and slightly backward while holding it


Move forward and downward toward the object while holding nothing


Push the object to open the object while holding nothing


Transport the object horizontally toward the object while holding it


Reorient the object by tilting the gripper to begin folding


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


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


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


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


Withdraw upward and backward away from the object while holding nothing


Maintain grasp, lift vertically and move horizontally away from the object


Open gripper to release the object at a new location


Transport the object toward the target location while rotating the gripper to align orientation


Lower the object downward while reorienting it to lay


Transport the object slightly backward while tilting it upward to adjust orientation


Open gripper to place the object at the new position


Close gripper to grasp the object on the refrigerator object


Transport the object backward away from the refrigerator while holding it


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


Transport the object backward while holding it


Move upward and forward toward the object while holding nothing


Close gripper to grasp the object on the object


Transport the object downward and slightly backward while rotating wrist to adjust orientation


Lower the object downward toward the surface while holding it


Open gripper to release and place the object inside the object


Move forward and downward to approach the object while holding nothing


Move inward into the object cavity to approach the object while holding nothing


Close gripper to grasp the object inside the object


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


Rotate the gripper axially to reposition the object while holding it


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


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


Close gripper to grasp another object from the pile


Close gripper to grasp an object from the pile


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


Push the object front horizontally to close it while holding nothing


Lift the object vertically upward while simultaneously moving it slightly backward and to the left


Maintain grasp and rotate the object to tilt it forward


Lift the object upward, transport it diagonally toward the opposite corner, and reorient to align for diagonal folding


Lift the object, transport it further diagonally, and reorient to perform the second diagonal fold


Open gripper to place the object after second diagonal fold


Move downward and forward toward the object while holding nothing


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


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


Pull the object horizontally outward while maintaining contact and holding nothing


Close gripper again to secure a second point on the object


Close gripper to grasp another segment of the object to prepare for knot formation


Close gripper to secure the twisted section of the object


Transport the object upward and left while reorienting to tighten the loop


Close gripper to grasp the crossing point of the object for knot tightening


Close gripper to secure the knot structure


Close gripper to secure the final knot configuration


Close gripper to maintain hold on the knot during final adjustment


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


Move toward the object again while holding nothing


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


Transport the brush away from the object toward the center of the object while holding it


Maintain grasp and lift the object vertically upward


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


Move forward and downward toward the dark clothing while holding nothing


Close gripper to grasp the dark clothing


Open gripper to place the backpack on the sofa


Move forward and downward toward the scattered object while holding nothing


Push the scattered object together using the brush-like tool while maintaining contact and holding nothing


Move upward and backward to return to a neutral position while holding nothing


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


Transport the object forward while rotating wrist to tilt it downward


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


Transport the object forward toward the object while holding it


Lower the object downward into the object basin while holding it


Hold posture steady with object held in object basin


Maintain grasp and lift vertically upward out of the object


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


Lift the trash object vertically upward and transport it to the left while holding it


Open gripper to place the trash object on the surface


Retract the end-effector downward and backward while holding nothing


Move upward into the object space while holding the object


Move downward and forward toward the first object while holding nothing


Move horizontally toward the second object while holding nothing


Lift the object upward while rotating it to prepare for folding


Open gripper to release the object onto the surface after folding


Transport the object to the right while rotating the gripper to reorient the object


Move backward and slightly right to reposition while holding nothing


Move downward and forward to approach the object while holding nothing


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


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


Move forward and downward toward the wall switch while holding nothing


Move forward and downward to approach the stack while holding nothing


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


Close gripper to grasp the object with number six on it


Move forward and upward to approach the keyboard while holding nothing


Press a key on the keyboard with the end-effector while holding nothing


Hold posture steady to pour the contents


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


Open gripper to release the object inside the object while holding it


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


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


Close gripper again to secure the object after reorientation


Open gripper to release and place the object onto the surface


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


Open gripper to place the object on the object surface


Lift the object vertically while rotating it to bring it


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


Move leftward while holding nothing to approach the next object


Push the object horizontally to the left while maintaining contact but not fully enclosing it


Open gripper to release the object after shifting it left


Move downward and forward toward the object while holding nothing


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


Hold the object steady in a tilted orientation


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


Close gripper to grasp the object inside the object


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


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


Move forward and reorient gripper angle to align with the second object while holding nothing


Open gripper to place the second object into the object slot


Move forward and downward to approach the power strip while holding nothing


Press the third switch from the right with the gripper tip while holding nothing


Retract upward and backward away from the power strip while holding nothing


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


Move forward and downward to approach the object while holding nothing


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


Press downward on the top seal of the object with the gripper while holding nothing in contact


Transport the object forward while rotating wrist to tilt the object upward


Push the object forward while maintaining contact without holding it


Close gripper to grasp the next object from the stack


Close gripper to grasp the final object from the stack


Continue moving upward and slightly right while holding nothing


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


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


Close gripper to grasp the object inside the object


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


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


Move forward and downward toward the switch while holding nothing


Push the right switch downward with continuous contact while holding nothing


Lower the object downward toward the target position while holding it


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


Transport the object forward and rotate wrist to align for connection


Maintain grasp and lift the object vertically upward


Lower the object into the first object while holding it


Hold the object steady inside the object


Rotate wrist clockwise while holding the object to begin opening the cover


Pull the cover outward with contact while holding nothing


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


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


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


Move horizontally to the right to approach the top right object while holding nothing


Pull the top right object outward to open it fully while holding nothing


Close gripper to grasp the object of the object


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


Open gripper to release and place the object aside


Transport horizontally into the object while adjusting gripper orientation to align with the object


Move forward and downward to position above the object while holding the object


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


Transport the end-effector toward the object front and push the object inward to close it


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


Close gripper again to secure the object during repositioning


Continue transporting toward the head rest while adjusting object orientation for placement


Open gripper to release the object onto the head rest


Close gripper to grasp a portion of the object again


Reorient the object while transporting it slightly to adjust positioning on the head rest


Open gripper to fully release the object onto the head rest


Close gripper to grasp a second object inside the object


Maintain grasp and lift the object vertically upward


Transport the object slightly forward while rotating wrist to unfold and flatten it


Lower the object onto the object surface and apply gentle horizontal force to spread it


Slide the object across the object surface in a back-and-forth motion while maintaining contact


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


Close gripper to grasp an object from the utensil object


Open gripper to release and place the object into a object


Lift the object upward and transport it horizontally to the left while holding it


Close gripper to grasp the object from the top compartment


Move downward and forward toward the object pile while holding nothing


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


Transport the object forward and slightly left while holding it


Open gripper to release and place the object onto the object


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


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


Transport the object to the left while reorienting it to lay


Move downward and toward the object while holding nothing


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


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


Move downward and forward toward the object while holding nothing


Transport the object horizontally toward the object while holding it


Move forward and upward toward the object while holding nothing


Rotate wrist clockwise while holding the object


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


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


Close gripper to grasp the object inside the clear object


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


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


Lower the object downward toward the object while holding it


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


Move downward and forward toward the tape roll while holding nothing


Move forward and slightly downward toward the object while holding nothing


Hold position with gripper in contact with the open object, remaining motionless


Transport the object to the right while rotating wrist to tilt the object for removal


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


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


Open gripper to place the second object on the surface


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


Lift the object vertically while holding it


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


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


Move downward and forward to approach the object while holding nothing


Close gripper to grasp a section of the object


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


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


Retract upward and backward to return to a neutral position while holding nothing


Move forward and downward to approach the fork while holding nothing


Lift the fork vertically upward while holding it


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


Lower the fork downward while holding it to approach the object


Push the object using the fork while maintaining contact but not grasping


Lift the object with the fork and transport it toward the destination while holding


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


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


Transport the object to the right while rotating wrist to uncoil and align it horizontally


Move upward and backward to reposition above the book while holding nothing


Close gripper to grasp the edge of the top page of the book


Rotate the gripper upward and lift slightly while pulling the page to flip it over


Open gripper to release the flipped page


Move downward and forward toward the object drain while holding nothing


Lower the stopper vertically downward toward the object drain while holding it


Open gripper to release the stopper into the object drain


Transport the object upward and backward while rotating wrist to tilt the object


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the scoop inside the object


Lift vertically upward while holding the scoop


Transport to the right while rotating wrist to orient the scoop for transfer


Lower the scoop downward toward the open clear object while holding it


Move forward and downward toward the extension object while holding nothing


Apply pressure to the switch in the forward direction while maintaining contact without holding


Close gripper to grasp the object from inside the object


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


Close gripper to grasp the object once more


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


Open gripper to place the object on the object surface finally


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


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


Move downward and forward to approach the object while holding nothing


Close gripper to grasp the object of the object


Open gripper to place the object aside while holding nothing


Move forward and downward to approach the mat while holding nothing


Lift the mat vertically upward while holding it


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


Close gripper to grasp the kettle object


Lift the kettle vertically while transporting it slightly to the left, maintaining grip


Lower the kettle downward and place it onto the mat


Transport the object forward while rotating wrist to tilt it slightly


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


Lift the clear object vertically upward while holding it


Transport the clear object forward and slightly left while reorienting it to align horizontally


Lower the clear object downward toward the object while holding it


Maintain grasp, lift upward and transport toward the right side


Move downward and leftward to approach the object while holding nothing


Maintain grasp, lift upward and rotate the object to fold it


Move upward and backward to clear the workspace while holding nothing


Lift the object upward while maintaining grasp


Move upward and backward to exit the workspace while holding nothing


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


Open gripper to place the object on the target location


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


Close gripper to grasp the remaining coiled object


Remain stationary near the switch after actuation


Pull the zipper upward along the track while maintaining contact and holding nothing


Open gripper to release the zipper pull while holding nothing


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


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


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


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


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


Lift the object vertically upward while holding it


Transport the object to the right while holding it


Lower the object downward and place it onto the surface


Move forward and slightly downward toward the control panel while holding nothing


Apply pressure straight forward onto the button while holding nothing


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


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


Lift the object vertically while transporting it upward and slightly backward toward the top object


Open gripper to release the object onto the top object


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


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


Move downward and forward to approach the chopsticks while holding nothing


Lift vertically upward and transport slightly forward while holding the chopsticks


Transport horizontally toward the object while holding the chopsticks


Rotate wrist axially to stir inside the object while holding the chopsticks


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


Lower the object downward toward the object surface while maintaining grasp


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


Move downward and forward into the object while holding nothing


Transport the object forward while rotating wrist to tilt the object


Transport the object to the right while reorienting to stack alignment


Transport the object to the right while rotating the gripper to tilt the object upward


Move downward and forward toward the object while holding nothing


Close gripper to grasp one corner of the object


Pull the object diagonally across the surface while maintaining contact without grasp


Move laterally to approach another corner of the object while holding nothing


Transport the grasped corner horizontally to stretch the object while holding it


Retract upward and slightly backward while holding nothing


Retract upward and backward to clear the area while holding nothing


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


Move forward and slightly downward toward the wall-mounted target while holding nothing


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


Remain stationary with gripper in contact with the switch for a brief duration


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


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


Rotate wrist clockwise while transporting the object horizontally to uncoil it


Close gripper to secure the free end of the object


Close gripper to grasp a portion of the object


Lift the grasped portion upward and move slightly backward while holding the object


Retract gripper upward and reposition to the right side of the object while holding nothing


Close gripper to grasp another portion of the object


Lift the newly grasped portion vertically upward while holding the object


Open gripper to release the object, allowing it to unfold partially


Move gripper downward and leftward to approach a new fold in the object while holding nothing


Close gripper to grasp a third portion of the object


Lift the grasped portion and move it laterally to stretch the object while holding


Open gripper to release the object, continuing the unfolding process


Close gripper to grasp the final portion of the object


Lift the last grasped portion upward to fully extend the object


Open gripper to release the object, completing the unfolding


Remain stationary with gripper open above the unfolded object


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object from the object


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


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


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


Lower the object onto the object surface and apply gentle pressure to make contact


Move the object across the object surface in a wiping motion while maintaining contact and holding it


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


Move forward and downward toward the left object while holding nothing


Lift the object upward while rotating it to orientation


Lift the right object vertically upward while holding it


Rotate the object to orientation while holding it near the right armrest


Open gripper to place the right object against the right armrest


Rotate wrist freely to adjust orientation while holding nothing


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


Move downward and forward toward the workspace while holding nothing


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


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


Re-grasp the object firmly after repositioning


Lift the object upward while rotating wrist to fully open the coffee maker


Lower the object downward while rotating wrist to align and close the coffee maker


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


Move forward and downward to approach the open book while holding nothing


Maintain grasp and rotate the book cover downward while moving slightly backward to close the book


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


Apply gentle horizontal force to the object of the object to slightly open it while maintaining contact


Rotate wrist freely and adjust position to align with the object while holding nothing


Remain stationary with gripper in contact with the object, confirming closure


Move downward and forward to approach the pile of clothing while holding nothing


Close gripper to grasp a piece of clothing from the pile


Lift the grasped clothing vertically upward


Close gripper to grasp another piece of clothing


Move back toward the pile of clothing while holding nothing


Close gripper to grasp a third piece of clothing


Lift the grasped clothing and transport it toward the object


Open gripper to release the clothing into the object


Close gripper to grasp a fourth piece of clothing


Move forward and downward toward the lock while holding nothing


Rotate wrist anticlockwise while holding the lock


Apply downward pressure on the object lever while maintaining contact without holding


Open gripper to release the object lever


Lift the object vertically upward while transporting it backward and slightly right


Transport the object horizontally to the right while maintaining hold


Lower the object downward toward the target surface while holding it


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


Lift vertically upward while holding the object, then transport slightly backward


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


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


Lift the object upward, transport it toward the first object, and reorient it to an posture while holding


Open gripper to place the object on the first object


Move forward and downward to approach the object while holding nothing


Pull the object outward horizontally while maintaining contact and holding nothing


Lift the object vertically upward while holding it


Lift the panda object upward and transport it to the left while holding it


Pull the object outward to open it while holding nothing


Lift the object vertically and transport it upward and leftward toward the bottom compartment while holding it


Close gripper again to secure the object


Pull the object outward while transporting the end-effector backward to open the object


Open gripper to release the object at the new position


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


Pull a object item horizontally from the pile while maintaining contact and holding nothing


Lift the object item vertically upward while transporting it slightly backward, maintaining hold


Reorient the held object item by tilting the gripper to adjust its orientation


Move downward and forward to approach the calculator while holding nothing


Press the '1' key again on the calculator with the gripper tip while holding nothing


Remain stationary above the calculator while holding nothing


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


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


Move downward and forward to approach the object while holding nothing


Maintain grasp and lift the object vertically upward


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


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


Retract upward and backward to clear the object while holding nothing


Move backward and slightly upward to clear the area while holding nothing


Push the object front panel horizontally to close it while holding nothing


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


Transport the object to the object and lower it into the object while holding it


Open gripper to release the object into the object


Move horizontally to approach the object while holding nothing


Transport the object to the clear object and lower it into the object while holding it


Open gripper to release the object into the clear object


Move horizontally to approach the next object while holding nothing


Transport the object toward the object while holding it


Open gripper to release the object onto the support structure


Transport the object horizontally away from the original location while holding it


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


Open gripper to place the object down in a configuration


Move upward and away from the object while holding nothing


Lower the object downward and open gripper to place it beside another object


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


Close gripper to grasp the object on top of the object


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


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


Close gripper to grasp the object from the object


Lift the object vertically upward while maintaining grasp


Transport the object horizontally to the left while holding it


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


Retract end-effector upward and slightly backward while holding nothing


Transport the object slightly forward while rotating wrist to flatten and align the object for wiping


Transport the object to the right while rotating wrist to tilt and extract it from the object


Push the right object inward with the gripper while holding nothing


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


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


Open gripper to release and place the object onto the bottom part of the segment object


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


Transport to the right while holding the object


Press the right light switch upward while holding nothing


Press the right light switch downward while holding nothing


Open gripper to place the object onto the object


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


Close gripper to grasp a segment of the object


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


Transport the object slightly backward while rotating wrist to adjust orientation


Move downward and forward toward the coffee machine while holding nothing


Close gripper to grasp the object on top of the coffee machine


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


Close gripper to grasp one flap of the object


Lift the grasped flap upward while reorienting it inward to begin closing the object


Lift the second flap upward, transport it across the object opening, and reorient it to fold over the first flap


Move forward and slightly upward toward the wall-mounted switch while holding nothing


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


Push the object downward with continuous contact while holding nothing


Move forward and downward toward the wall-mounted switch while holding nothing


Apply pressure to the leftmost switch on the panel while holding nothing


Move slightly right and maintain proximity to the switch panel while holding nothing


Apply horizontal backward force to slide the object open while maintaining contact with the object


Push the object face forward to close it while maintaining contact with the object front


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


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


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


Remain stationary with gripper open, confirming the object is seated


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


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


Retract upward and backward away from the object control panel while holding nothing


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


Move downward and forward toward the object while holding nothing


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


Lower the object onto the surface and apply gentle pressure to clean


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


Lift the utensil vertically while holding it, then transport it toward the object


Retract gripper and move laterally to approach the second utensil while holding nothing


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


Lower the object downward and open gripper to release it inside the target object


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


Push the object front horizontally inward to close it while maintaining contact and holding nothing


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


Transport the object slightly forward and rotate wrist to align its orientation for stacking


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


Close gripper to grasp the object on the right


Transport the object toward the left while rotating the gripper to reorient the object


Open gripper to release and place the object into the holder


Retract arm backward and slightly right while holding nothing


Close gripper to grasp another object on the right


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


Move downward and forward toward the dish object while holding nothing


Close gripper to grasp an object from the dish object


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


Move forward and upward toward the object while holding nothing


Move downward and forward toward the object while holding nothing


Close gripper to grasp the longest object inside the object


Transport the object horizontally to the right while reorienting it to a stable posture


Move upward and slightly forward toward the open cupboard while holding nothing


Push the open cupboard object inward to close it while maintaining contact and holding nothing


Transport the object horizontally toward the object while tilting it slightly to align for nesting


Move downward toward the nested object while holding nothing


Apply horizontal force with gripper in contact to push the lever down


Move forward and downward toward the object while holding nothing


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


Close gripper to grasp the first object from the object


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


Close gripper to grasp the second object from the object


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


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


Move downward and forward into the object while holding nothing


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


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


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


Transport the object horizontally toward the switch while rotating the gripper to align orientation


Transport the object to the left while holding it


Open gripper to place the object on the object surface


Lower the object into the object while holding it


Remain stationary with gripper open and no contact while holding nothing


Lower the object downward into the object while maintaining grasp


Move upward and backward while holding nothing


Apply pressure downward on the switch while holding nothing


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


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


Lift vertically upward while transporting slightly backward, maintaining grasp


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


Open gripper to place the object into the object


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


Move toward the fifth object while holding nothing


Move toward the sixth object while holding nothing


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


Remain stationary with gripper in contact with the object


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


Lower the object downward while holding it to place it near the target surface


Transport the object slightly backward and to the left while rotating wrist to align orientation for placement


Move upward and forward toward the object while holding nothing


Pull the object outward while maintaining contact with the object


Hold the object in the open position without motion


Retract backward and upward away from the object while holding nothing


Apply horizontal force to the object front to close it while holding nothing


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


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


Move upward and slightly left to approach the next target while holding nothing


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


Close gripper to grasp the object inside the object


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


Lower the object downward toward the target location while holding it


Push the object forward to close it fully while maintaining contact


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


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


Close gripper to grasp another object inside the object


Close gripper again to re-grasp the same object


Open gripper to release the object once more


Move forward and downward to approach the object while holding nothing


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


Open gripper to release and place the object onto the object


Lift vertically while transporting forward to position above the target


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


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


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


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


Push the storage object horizontally into the object while maintaining contact and holding nothing


Transport the object to the right while rotating wrist to unscrew


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


Open gripper to place the object inside the object


Move downward and forward toward the object while holding nothing


Transport the object to the left while reorienting it to align with the target surface


Move downward and slightly right toward the object while holding nothing


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


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


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


Press the wall switch with the gripper while maintaining contact and holding nothing


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


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


Move forward and slightly downward toward the object while holding nothing


Move forward and slightly left while adjusting gripper orientation to approach the tube


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


Pull the object inward while slightly reorienting the gripper to align with the closing motion


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


Lift the object vertically upward while holding it


Transport the object to the left and lower it into the object while holding it


Open gripper to release the object inside the object


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


Close gripper to grasp the second object


Lift the second object vertically upward while holding it


Transport the second object to the left while holding it


Transport the object to the right while holding it


Close gripper to grasp the remaining object


Move forward and slightly left while holding nothing to approach the ribbon rolls


Close gripper to grasp the displaced ribbon roll


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


Open gripper to place the object onto the object


Move downward and forward toward the utensil object while holding nothing


Open gripper to release and place the object into the cutlery object


Close gripper to grasp another object from the utensil object


Move forward and downward to approach the object while holding nothing


Push the object partially out of the object while maintaining contact and holding nothing


Close gripper to grasp the object as it emerges from the object


Open gripper to release and place the object into the destination object


Transport horizontally toward the target location while lowering the object


Maintain grasp, lift vertically upward and move horizontally to the left


Lower the object downward while maintaining hold


Lower the object and open gripper to place it


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


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


Move gripper upward and slightly left while holding nothing to reposition for next grasp


Close gripper to grasp another edge of the object


Pull the object in the opposite direction while reorienting to further unfold it


Open gripper to release the object in a more unfolded state


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


Transport the can horizontally toward the object while holding it


Open gripper to place the can into the object


Push the object horizontally under the object while maintaining contact and holding nothing


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


Open gripper to place the object into the object


Remain stationary with gripper in contact with the button


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


Maintain grasp and lift the fork vertically upward


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


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


Lift the object vertically upward while holding it


Transport the object to the right and simultaneously reorient it to tilt the opening downward


Hold the object in a tilted posture steadily to allow contents to pour out


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


Rotate wrist clockwise while holding the object to open its object


Hold the object steady in the opened position


Close gripper to grasp the edge of the object


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


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


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


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


Open gripper to release the object near the window


Move forward and downward to approach the object while holding nothing


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


Push the object across the object surface from left to right while maintaining contact


Push the object across the object surface from right to left while maintaining contact


Push the object across the object surface in a vertical motion while maintaining contact


Push the object inward with the gripper while holding nothing


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


Close gripper to grasp the object vertically on the object


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


Move downward and backward to approach the second object on the object while holding nothing


Close gripper to grasp the second object vertically on the object


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


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


Transport the object to the right while rotating wrist to untangle or reorient it


Move left and slightly forward to approach the digital clock while holding nothing


Close gripper to grasp the digital clock


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


Close gripper to grasp the object holder


Close gripper to grasp the glass object using the object holder


Reorient the gripper to level the object and transport it precisely over the object


Open gripper to release the object holder onto the surface


Transport the object to the right while rotating the wrist to tilt the object upward


Rotate wrist axially while holding the object to align it for closing


Move forward and slightly upward toward the window blinds while holding nothing


Close gripper to grasp the blind object or slat control mechanism


Close gripper again to re-grasp the blind control mechanism


Close gripper to grasp the object vertically from within the object


Move forward and downward toward the object while holding nothing


Maintain grasp and hold the object steadily


Move downward and forward toward the object while holding nothing


Close gripper to grasp the part of the object