Move downward and forward to approach the object while holding nothing


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


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


Close gripper to grasp the object at the bottom right corner


Open gripper to release the object at the new position on the left


Move downward and slightly forward to approach the object on 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 while maintaining grasp


Open gripper to release the object inside the object


Move downward and forward toward the object while holding nothing


Lift the object vertically upward while holding it


Open gripper to release and place the object onto the object


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


Transport the object to the left while holding it


Open gripper to release and place the object on top of the previously placed object


Maintain grasp and lift vertically upward


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


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


Transport the object to the left while slightly reorienting it to align horizontally


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


Close gripper to grasp the object inside the object


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


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


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


Move forward and downward to approach the object while holding nothing


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


Open gripper to place the object onto the surface


Close gripper again to re-grasp the object


Lift the object slightly and transport it horizontally toward the window edge


Open gripper to place the object securely on the surface


Move downward and forward to approach the object while holding nothing


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


Transport the object horizontally across the surface while holding it


Lower the object onto the surface while maintaining grasp


Open gripper to release the object onto the surface


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


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


Transport the object horizontally to the right while holding it


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


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


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


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


Lower the object downward while maintaining grasp


Open gripper to release and place the object


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


Close gripper to grasp the object from the object


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


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


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


Transport the object to the right while holding it


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


Close gripper to grasp the second object


Transport the object to the left while holding it


Close gripper to grasp the fourth object


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


Move forward and downward to approach the object while holding nothing


Open gripper to release and place the object on the surface


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


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


Push the object of the object sideways to open it while holding nothing


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


Transport horizontally toward the object while holding nothing


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


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


Apply backward force while maintaining contact with the object to open the compartment object


Hold position with gripper still in contact and object partially open, no motion for a brief duration


Continue pulling the object backward while slightly adjusting gripper orientation to fully disengage the lock mechanism


Open gripper to release the object, ending physical contact with the object


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


Move forward and downward to approach the target while holding nothing


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


Lower the object downward and open gripper to place it


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


Lift the brush vertically upward while holding it


Transport the brush to the left while maintaining contact and pushing the scattered items leftward


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


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


Open gripper to release the object onto the rail


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


Press the left switch vertically downward with the gripper while holding nothing


Retract downward and backward away from the wall while holding nothing


Close gripper to grasp the object from inside the object


Lift the object vertically upward while maintaining grasp


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


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


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


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


Close gripper to grasp the object from the right heap


Lift the object vertically upward and transport it leftward toward the left heap while holding it


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


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


Lift the object upward, transport it leftward toward the left heap, and simultaneously reorient it to prepare for folding


Lower the object onto the left heap and open gripper to release it while folding it on top


Move downward and forward to approach the target while holding nothing


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


Lower the object downward and open gripper to release it


Move forward and upward toward the object while holding nothing


Pull the object further open by maintaining contact and moving backward while holding nothing


Move forward and downward toward the object while holding nothing


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


Open gripper to place the object on the surface


Pull the object horizontally outward while maintaining contact but not holding


Push the object inward along its track while maintaining contact but not holding


Retract upward and backward away from the object while holding nothing


Move forward and upward toward the power strip while holding nothing


Press the switch of the second slot from the left with the gripper tip while holding nothing


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


Move forward and downward to approach the trash can object while holding nothing


Push the trash can object upward to open it while holding nothing


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


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


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


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


Maintain grasp and lift the object vertically upward


Transport the object horizontally to the right while rotating wrist to flatten and align it for cleaning


Apply horizontal force with the object in contact to slide debris across the surface


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object inside the object


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


Open gripper to release the object onto the surface


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


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


Lift vertically upward while holding the object


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


Hold posture steady while maintaining grip to pour content into the first target


Lift vertically while transporting slightly upward and backward with object held


Lower the object vertically into the object while holding it


Repeatedly lift and lower the object vertically inside the object while holding it


Open gripper to release the object inside the object


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


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


Transport the object horizontally across the surface while reorienting it to lay


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


Move downward and forward toward the target while holding nothing


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


Push the top object inward along its track while maintaining contact and holding nothing


Lift vertically while transporting upward and backward with object held


Hold posture steady to allow contents to pour out


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


Close gripper to grasp the curtain object


Pull the object upward while maintaining contact without enclosing it


Hold position steadily while maintaining contact with the object


Move forward and downward toward the object while holding nothing


Close gripper to grasp the object while holding nothing


Pull the object inward while maintaining grasp on the object


Move downward and forward to approach the object while holding nothing


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


Move forward and downward toward the dish object while holding nothing


Transport the object to the left while reorienting it to tilt downward


Lower the object downward toward the target while holding it


Open gripper to release the object into the target


Close gripper to grasp the object from the object


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


Open gripper to release the object into the target object


Transport the object forward while rotating wrist to align it horizontally


Open gripper to release and place the object near the object edge


Close gripper to grasp a second object on the object


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


Open gripper to release and place the object beside the first one


Move upward and reposition toward the remaining object while holding nothing


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


Transport the object horizontally to the left while holding it


Move forward and slightly upward while holding nothing


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 while holding it


Move downward and forward to approach the object while holding nothing


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


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the top object from the stack


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


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


Close gripper to grasp both object simultaneously


Maintain grasp and lift both object vertically upward


Open gripper to release both object into the target location


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


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


Hold position steadily with gripper still grasping the object while the object remains open


Retract end-effector backward and slightly upward while holding nothing


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


Open gripper to place the object on top of the target


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


Open gripper to release the object into the object


Apply horizontal force to slide the object inward while maintaining contact and holding nothing


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


Move upward and slightly forward to reposition while holding nothing


Open gripper to release the object into the disposal opening


Lower the object vertically downward while maintaining grasp


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


Apply horizontal force backward to slide the object toward the robot while maintaining contact without enclosure


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


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


Move forward and downward toward the object while holding nothing


Open gripper to release the object onto the target surface


Maintain grasp and move backward while slightly rotating the object to adjust orientation


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


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


Open gripper to place the object on the surface


Move forward and downward to approach the object while holding nothing


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


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


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


Open gripper to place the object on top of another object


Open gripper to place the object back on its original position


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


Lift vertically upward while transporting slightly backward with object held


Move downward and forward toward the object while holding nothing


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


Open gripper to release the object into the compartment


Lower the object vertically while maintaining grasp to position it near the bar


Move forward and downward toward the object while holding nothing


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


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


Move downward and forward to approach the object while holding nothing


Close gripper to grasp the object on top of the object


Lift the object vertically upward while holding it


Open gripper to place the object onto the object


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


Close gripper to grasp the object near its base


Pull the object outward horizontally while maintaining contact with the object


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


Close gripper to grasp the object from the dishwasher object


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


Lower the object downward toward the surface while maintaining grasp


Remain stationary with gripper open and no object held


Move forward and slightly downward toward the object while holding nothing


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


Close gripper to grasp the object inside the object


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


Open gripper to release and place the object on the object


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


Open gripper to release the right object


Move forward and downward to approach the object while holding nothing


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


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


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


Hold the tilted posture steadily to complete pouring


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


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


Move downward and forward toward the scattered object while holding nothing


Close gripper to grasp one object from the object surface


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


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


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


Close gripper to grasp another object from the object surface


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


Transport the object forward while rotating wrist to align orientation


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


Lift the object vertically upward while holding it


Move toward the can on the object while holding nothing


Lift the can vertically upward while holding it


Move upward and slightly right toward the top right cupboard while holding nothing


Pull the top right cupboard object open using the object while holding nothing


Close gripper to grasp the object inside the cupboard


Transport the object forward while rotating wrist to adjust orientation


Open gripper to release the object into the target location


Move downward and forward toward the object while holding nothing


Close gripper to grasp an object from the object


Close gripper to grasp another object from the object


Open gripper to place the object on the object surface


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


Push the right compartment object inward with continuous contact while holding nothing


Push the object front inward horizontally to close it while gripping nothing


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


Move downward and forward while holding nothing, adjusting gripper orientation to approach the carrier object


Close gripper to grasp an object inside the object


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


Move back toward the object while holding nothing, reorienting gripper for next grasp


Close gripper to grasp a second object inside the object


Close gripper to grasp a third object inside the object


Lift the object upward and transport it leftward while holding it


Open gripper to release the object onto the object


Move back toward the object while holding nothing


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


Close gripper to grasp the object while positioned above it


Lower the object downward into the object while holding it


Push the object front inward to close it while holding nothing


Move forward and downward toward the object while holding nothing


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


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


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


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


Move back toward the measuring object while holding nothing


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


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


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


Move upward and backward to retract while holding the object


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


Move backward and upward to retreat while holding nothing


Close gripper to grasp the object front while maintaining contact


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


Transport the object forward and upward while holding it


Open gripper to place the object inside the object


Close gripper to re-grasp the object after brief release


Transport the object to the left while maintaining hold


Open gripper to place the object adjacent to the monitor


Move forward and downward to approach the object while holding nothing


Lift the object vertically upward while holding it


Open gripper to place the object on the surface


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


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


Reorient the object by tilting it downward while holding it, preparing to insert into the object


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


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


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


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


Transport the object forward and slightly right while rotating wrist to tilt it for pouring


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


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


Move downward and forward to approach the object while holding nothing


Close gripper to grasp another object from the object


Open gripper to place the object on the target surface


Move forward and downward toward the control panel while holding nothing


Apply pressure to the left-side button on the control panel while holding nothing


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


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


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


Close gripper to grasp the coiled object


Lift the coiled object vertically upward while holding it


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


Lower the coiled object downward into the object while holding it


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


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object inside the object


Transport the object to the left while rotating the wrist to turn it counterclockwise


Re-grasp the object to secure it after repositioning


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


Close gripper to grasp the clear storage object


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


Lower the object downward toward the disposal opening while holding it


Hold position steadily while maintaining contact with the object to ensure it closes fully


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


Retract gripper backward and upward while holding nothing


Close gripper to grasp another portion of the object


Transport the object to the left while maintaining contact and applying horizontal force to slide it


Lower the object downward while maintaining hold


Move forward and slightly upward toward the object control panel while holding nothing


Adjust position and wrist orientation to align with the button row on the object while holding nothing


Remain stationary with gripper in contact with the button area, maintaining pressure briefly


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


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


Move forward and upward to approach the object while holding nothing


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


Rub the surface of the object with the object in a motion while maintaining contact and holding the object


Transport the object away from the object while reorienting it to a neutral pose


Maintain grasp and tilt the object downward by rotating the wrist to initiate pouring


Hold the tilted posture steadily to allow contents to pour out


Remain stationary with gripper open and no contact with the object


Move backward and slightly left to reposition while holding nothing


Close gripper to grasp the object on the surface


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


Open gripper to place the object down on the surface


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


Transport leftward and slightly forward while rotating wrist to align the object over the object


Lower the object downward and release it onto the object


Move forward toward the object while holding nothing


Pull the object outward to open the object while holding nothing


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


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


Push the slice of bread out of the object using the object while holding it


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


Move downward and forward to approach the first piece of trash while holding nothing


Close gripper to grasp the first piece of trash


Lift the grasped upward and transport it leftward toward the object


Open gripper to release the into the object


Move rightward and downward to approach the next piece of trash while holding nothing


Close gripper to grasp the second piece of trash


Move forward and downward toward the object while holding nothing


Pull the object inward along its hinge axis while maintaining contact


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


Hold posture steady while maintaining grasp


Remain stationary with gripper closed and object held


Retract upward and backward while holding nothing


Move forward and upward toward the object while holding nothing


Press the top-left button on the object panel with the gripper tip while holding nothing


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


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


Lift the object vertically upward while holding it


Open gripper to place the object on the object


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


Move downward and forward toward the object while holding nothing


Open gripper to release the object into the left compartment


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


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


Remain stationary with gripper in contact with the object to ensure it is fully closed


Move forward and downward into the fridge bottom object while holding nothing


Close gripper to grasp the object on the bottom object


Lower the object downward into the open fridge object while holding it


Move forward and downward to approach the object while holding nothing


Transport the object to the right while rotating wrist to tilt and release orientation


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


Move forward and downward while adjusting gripper orientation to approach the object with no object held


Lift the object vertically upward while holding it securely


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


Remain stationary with gripper in contact with the switch, maintaining position


Move downward and forward toward the utensil object while holding nothing


Open gripper to release and place the object into the adjacent compartment


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


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


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


Apply pressure vertically downward on the top button located on the right side of the target while holding nothing


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


Apply pressure vertically downward on the last button on the control panel while holding nothing


Move downward and forward toward the coiled object while holding nothing


Close gripper to grasp the coiled object


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


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


Move downward and forward to approach the object while holding nothing


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


Retract the end-effector upward and backward while holding nothing


Move forward and downward toward the object while holding nothing


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


Move forward and downward to approach the object while holding nothing


Open gripper to place the object back on the surface


Move right and slightly forward to approach the second book while holding nothing


Open gripper to place the book next to the first one


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


Apply vertical pressure onto the object with the end-effector tip while holding nothing


Remain stationary with gripper open and no contact with any object


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


Transport the object to the right while rotating wrist to orient it toward the object opening


Open gripper to release the object into the object


Hold position momentarily with gripper open and no object held


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


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


Lower the object downward and place it onto the previously positioned object


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


Pull the object horizontally backward while maintaining contact without grasping


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


Lift the object vertically upward while holding it


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


Move laterally to the other object while holding nothing


Close gripper to grasp the second object


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


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


Push the object to the left while maintaining contact, and simultaneously rotate the wrist freely to align with the motion direction


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


Move forward and upward toward the wall switch while holding nothing


Press the wall switch with the gripper while holding nothing


Remain stationary with gripper in contact with the switch


Retract backward and downward away from the switch while holding nothing


Move upward and forward while holding nothing to approach the object


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


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


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


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


Retract backward and slightly downward away from the control panel while holding nothing


Lower the object downward while maintaining orientation


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


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


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 it


Move to approach the third object while holding nothing


Move downward and forward to approach the object while holding nothing


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


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


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


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


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


Move forward and upward toward the object while holding nothing


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


Move toward the object while holding nothing


Push the object anticlockwise while maintaining contact and adjusting gripper orientation freely


Push the object backward while maintaining contact


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


Lift the object vertically while simultaneously rotating it upward to bring it toward orientation


Remain stationary with gripper open after placing the object


Retract arm upward and slightly backward while holding nothing


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


Pull the top left object outward to open it while holding nothing


Adjust position downward and slightly forward inside the object while holding nothing


Transport the object outward from the object while rotating wrist to stabilize orientation


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


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


Lift the object upward while simultaneously transporting it to the left


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


Move toward the third object while holding nothing


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


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


Lift the object vertically upward while holding it


Push the contents of the object using the object while maintaining contact but not holding the object


Transport the object away from the object while reorienting it to a vertical position for pouring


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


Open gripper to place the object back on the object


Move downward and forward to approach the object while holding nothing


Hold the tilted object steady to allow contents to slide out onto the object


Rotate the object back to orientation while transporting it slightly leftward


Rotate wrist slightly to align gripper with object while holding nothing


Push the object horizontally to open the object while holding nothing


Retract backward and upward away from the object while holding nothing


Transport the object slightly forward while rotating wrist to align nozzle downward


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


Hold posture steady to allow liquid to pour out


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


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


Rotate wrist clockwise while holding the object


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


Close gripper to grasp the remaining object


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


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


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


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


Push the object forward across the surface while maintaining contact


Push the object forward again across the surface while maintaining contact


Move forward and downward toward the object while holding nothing


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


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


Retract end-effector upward and backward while holding nothing


Move forward and upward toward the second rod while holding nothing


Pull the rod horizontally backward while maintaining contact and holding it


Open gripper to release the rod back into its original position


Push the right object inward with continuous contact while holding nothing


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


Apply downward pressure on the object while maintaining contact without lifting


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


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


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


Transport the object toward the object while rotating the wrist slightly clockwise


Lower the object downward toward the object while maintaining grasp


Move downward and forward 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


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


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


Lower the object downward while rotating it to unfold it


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


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


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


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


Retract upward and backward to clear the workspace while holding nothing


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


Transport the object horizontally to the left while slightly reorienting to align for placement


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


Move downward and forward to approach the object while holding nothing


Close gripper again to secure the object after repositioning


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


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


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


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


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


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


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


Close gripper to grasp the object vertically positioned in the object


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


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


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


Transport the object forward along the object while slightly reorienting it to flatten its orientation


Lower the object onto the object surface and apply gentle forward pressure to spread it out


Push the object forward across the object surface while maintaining contact without grasping


Lift slightly and transport the object backward while reorienting it to adjust coverage area


Lower the object onto the object and push it leftward to clean a new region


Hold position briefly with object in contact with object surface


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


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


Transport the object horizontally while rotating it to invert its orientation


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


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


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


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


Close gripper to grasp one edge of the object


Reposition gripper to the opposite side of the object while holding nothing


Pull the object to the left while maintaining contact without grasping


Close gripper to grasp a different part of the object


Transport the object horizontally toward the stack while slightly reorienting to align its orientation


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


Reorient the object while transporting it closer to the object surface


Push the object against the inner surface of the object while maintaining contact without grasping


Pull the object across the inner surface of the object while maintaining contact


Close gripper again to secure the object


Push the target backward while maintaining contact and holding nothing


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


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


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


Move forward and downward toward the object front while holding nothing


Close gripper to grasp the object front while holding nothing initially, transitioning to holding


Continue pulling the object outward while transporting it further right and slightly upward with object held


Open gripper to release the object front while holding it, transitioning to holding nothing


Move forward and downward to approach the object while holding nothing


Apply downward pressure with the gripper tip onto a button on the object while holding it


Move forward and downward toward the object while holding nothing


Close gripper to grasp an object inside the object


Close gripper to grasp another object inside the object


Move forward and slightly upward toward the bookshelf while holding nothing


Move downward and slightly forward to approach the destination location while holding the object


Retract arm backward and upward while holding nothing


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


Rotate wrist back to orientation while transporting slightly right and downward


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


Close gripper to grasp the object inside the object


Lift the object vertically upward while holding it


Transport the object horizontally to the left while holding it


Open gripper to place the object on the object


Transport the object slightly left and rotate wrist to tilt the object opening downward


Move downward and forward toward the object while holding nothing


Maintain grasp and lift the object vertically upward


Transport the object upward and slightly right while reorienting to align its axis with the object


Move forward and downward toward the object while holding nothing


Secure the object with a final grasp adjustment while holding it steady


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


Close gripper to grasp the middle cushion


Transport the cushion to the right and reorient it to align with the target position while holding it


Open gripper to place the cushion on the right shoulder of the couch


Reorient the cushion to align it properly while holding it


Retract upward and backward away from the object while holding nothing


Transport the object to the left while holding it and slightly reorient to stabilize grip


Lower the object downward while holding it


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


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


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


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


Transport the object horizontally to the right while slightly reorienting it to align its orientation


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


Reorient the object by tilting the gripper to adjust its angle while holding it in place


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


Open gripper to release the object onto the object surface


Move upward and slightly left to reposition while holding nothing


Lift the object upward while transporting it backward and rotating the gripper to reorient the object for straightening


Transport the object toward the object while holding it


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


Move downward and left to approach the object while holding nothing


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


Move downward and left to approach the sponge-like object while holding nothing


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


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


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


Move forward and downward toward the napkin while holding nothing


Lift the napkin vertically upward while holding it


Transport the napkin toward the laptop while rotating wrist to align it for wiping


Move the napkin onto the laptop surface and apply gentle pressure while holding it


Slide the napkin across the laptop surface while maintaining contact and adjusting orientation as needed


Lift the napkin slightly and move it away from the laptop while holding it


Move downward and forward toward the object while holding nothing


Push the object across the inner surface of the object while maintaining contact


Pull the object back across the inner surface of the object while maintaining contact


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


Transport the object to the left while slightly reorienting the grip to stabilize it


Retract end-effector backward and upward while holding nothing


Open gripper to release the object at the destination


Move downward and forward to approach the object while holding nothing


Move forward and downward toward the object while holding nothing


Continue pushing the lever downward with the gripper while holding nothing


Retract upward and backward away from the object while holding nothing


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


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


Open gripper to place the object forward on the surface


Transport the object forward while holding it


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


Move forward and downward to approach the object while holding nothing


Pull the object outward with continuous contact while holding nothing


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


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


Close gripper to grasp an object from the cluster


Maintain grasp and transport forward while rotating wrist to tilt the object


Transport the object to the right while adjusting gripper orientation freely


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


Transport the object across the object while holding it


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


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


Apply pressure directly onto the target with the gripper while holding nothing


Hold the object steady in a tilted posture


Rotate wrist clockwise while holding the object to screw the cap onto the object


Move forward and downward toward the open object while holding nothing


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


Move downward and forward toward the object while holding nothing


Lift vertically while transporting slightly backward, maintaining grasp on the object


Close gripper to grasp the object inside the object


Lift vertically upward while maintaining grasp on the object


Move forward and downward to approach the object while holding nothing


Close gripper firmly to secure the object after initial displacement


Transport the object backward while continuing to pull it off the adapter with object held


Move forward and downward toward the storage object while holding nothing


Close gripper to grasp the object inside the storage object


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


Open gripper to release the object onto the object


Move back toward the storage object while holding nothing


Reorient the object by tilting it forward while maintaining grasp


Transport the object to the left while reorienting it to fold along the midline


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


Apply downward pressure with the gripper tip onto a protruding element without enclosing it


Remain stationary with gripper in contact and maintaining pressure on the target element


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


Lift the object vertically upward while holding it


Move away from the object toward another object on the object while holding nothing


Move toward a third object on the object while holding nothing


Open gripper to release the object into the object


Move toward a fourth object on the object while holding nothing


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


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


Open gripper to release the object into the destination


Apply downward pressure with the held object onto the lamp base to activate it


Move downward and forward to approach the object while holding nothing


Maintain grasp and lift the object vertically upward


Transport the object horizontally to the left while holding it


Tilt the object downward by rotating the gripper to pour contents out while holding it


Apply backward force to slide the object closed while maintaining contact with the object


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


Lift the object vertically while transporting it slightly leftward with object held


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


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


Close gripper to grasp the object from the object


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


Rotate wrist axially while holding the object to begin mixing motion


Move forward and downward toward the piano keys while holding nothing


Apply downward pressure on a key in the middle row while holding nothing


Retract upward and backward away from the piano keys while holding nothing


Move downward and forward to approach the zipper while holding nothing


Close gripper to grasp the zipper pull while holding nothing


Pull the zipper upward along the track while maintaining contact without holding


Retract upward and backward to clear the garment while holding nothing


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


Move forward and downward to approach the object while holding nothing


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


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


Apply downward pressure on the lever while maintaining contact without holding


Transport the object horizontally to the right and lower it onto the object surface


Close gripper to grasp a fifth object inside the object


Open gripper to release and place the object on the object


Move back toward the object while holding nothing


Close gripper to grasp a sixth object inside the object


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


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


Open gripper to place the object inside the top object


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


Move downward and forward toward the keyboard while holding nothing


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


Retract upward and backward away from the keyboard while holding nothing


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


Close gripper to grasp a object from the surface


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


Move downward and forward while holding nothing to approach the object


Press the switch vertically with the gripper tip while holding nothing


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


Lift the second object and move it toward the object while maintaining grasp


Open gripper to release the second object into the object


Retract end-effector slightly upward and backward while holding nothing


Lift the third object and move it toward the object while holding


Open gripper to release the third object into the object


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


Close gripper to grasp the star-shaped object


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


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


Lower the object downward while maintaining grasp to insert into the object


Open gripper to release and place the object inside the object


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


Open gripper to place the and object on the object surface


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


Lower the object downward into the object while holding it


Retract upward and backward away from the object while holding nothing


Move toward the object while adjusting gripper orientation to align for closing


Push the object downward with contact to close it


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


Move downward and forward to approach the object while holding nothing


Lift the object upward while rotating it to tilt the object leftward


Rotate wrist clockwise while holding the object to further turn the object to the left


Move upward and slightly right while holding nothing to approach the hanger on the left side of the rail


Close gripper to grasp the hanger while maintaining contact with the rail


Lift vertically upward and transport horizontally to the right while holding the hanger


Open gripper to release the hanger onto the right side of the rail while maintaining position


Transport the object horizontally toward the other object while slightly reorienting to align placement position


Lower the object downward and open gripper to place it just behind the other object


Open gripper to place the object on its side


Rotate wrist counterclockwise while holding the object


Maintain grasp and tilt the object downward to pour


Hold the tilted posture steadily to allow pouring to complete


Rotate the object back to while moving it leftward and slightly backward


Close gripper to grasp the string while maintaining position


Pull downward on the string while maintaining contact without grasping


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


Open gripper to release and place the object onto the surface


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


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


Open gripper to release the object onto the object surface


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


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


Close gripper to grasp an object from the object


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


Lift vertically while transporting backward to bring the potholder toward the object


Reorient the potholder to align it for gripping the object


Open gripper to release the potholder onto the object


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


Move forward and upward toward the object while holding nothing


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


Transport the object slightly forward while rotating wrist to align for pressing


Transport the object horizontally to the side while holding it


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


Move downward and forward to approach a wrapped object while holding nothing


Close gripper to grasp the wrapped object


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


Move forward and downward toward the clear case while holding nothing


Close gripper to grasp the object inside the clear case


Lift the object vertically upward while holding it


Transport the object to the right while holding it


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


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


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


Move downward and adjust gripper orientation to align for grasping while holding nothing


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


Open gripper to place the object on the surface


Retract arm upward and backward to clear the workspace while holding nothing


Move downward and forward to approach the stand while holding nothing


Close gripper to grasp the smallest object on the stand


Transport horizontally to the right while holding the object


Hold posture steady to pour liquid from the object


Move forward and upward toward the object while holding nothing


Lift the object vertically while rotating it to orientation


Rotate wrist clockwise while holding the object to align the switch


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


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


Transport slightly left while maintaining contact and applying gentle horizontal force to slide the object


Move forward and downward to approach 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 downward for pouring


Rotate the wrist back to orientation while transporting the can slightly right and backward


Lower the can downward toward the surface while holding it


Open gripper to place the can on the surface


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


Hold the object steady in position above the book cover


Open gripper to release the object onto the surface


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


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


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


Open gripper to place the object on top of the other one


Move downward and forward toward the object while holding nothing


Rotate the gripper slightly to align the sheet horizontally while transporting it forward and downward


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


Reorient the object by tilting it downward while maintaining grasp


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


Transport the object forward toward the coffeemaker while rotating wrist to tilt the object downward for pouring


Rotate wrist back to level orientation and transport the object backward away from the coffeemaker while holding it


Open gripper to place the object back on the surface


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


Lower the object downward and release it onto the target surface


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


Close gripper to grasp the object from above


Transport the object diagonally backward-left while rotating the wrist to reorient it


Lower the object downward while holding it steadily


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


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


Pull the object downward continuously while maintaining contact without grasping


Retract arm backward and slightly downward while holding nothing


Lower the object downward and open gripper to release it within the boundary


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


Press the object downward with the gripper while holding nothing


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


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


Move downward and forward toward the object while holding nothing


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


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


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


Transport the object slightly backward while rotating it to change its orientation


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


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


Rotate wrist clockwise while holding the object to initiate folding


Transport the object slightly left and reorient it by tilting the gripper to align for folding


Reorient the object by tilting the gripper to complete the fold


Open gripper to place the object on the surface


Close gripper to grasp an object inside the object


Close gripper to grasp the object again (re-grasp after brief release)


Transport the object horizontally toward the object and lower it gently onto the surface while holding it


Move forward and downward toward the bottom right cupboard object while holding nothing


Close gripper to grasp the object draped over the object back while maintaining contact with it


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


Press the wall switch with the gripper tip while holding nothing


Remain stationary in contact with the switch for a brief duration


Open gripper to release and place the object on the surface


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


Close gripper to grasp the outermost object


Close gripper to grasp the next inner object


Transport the object slightly leftward while reorienting to tilt and extract the next inner object


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


Move downward and adjust position to access the innermost object while holding nothing


Close gripper to grasp the innermost object


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


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


Apply pressure to the rightmost button on the device while holding nothing


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


Push the open upper object inward along its hinge axis while maintaining contact and holding nothing


Remain stationary with gripper in contact with the object, ensuring it is fully closed


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


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


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


Apply vertical pressure to the top switch while holding nothing


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


Close gripper to grasp the middle cupboard object


Pull the object outward horizontally while maintaining contact with the object


Hold the object in the open position without motion


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


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


Retract the end-effector backward and upward while holding nothing


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


Rotate wrist anti-clockwise while holding the rod


Move forward and downward toward the object while holding nothing


Close gripper to grasp an object from the object


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


Open gripper to place the object on the side surface


Move back toward the object while holding nothing


Close gripper to grasp another object from the object


Lift the object upward and transport it sideways to the side surface while holding it


Open gripper to place the object beside the first one


Transport the object horizontally toward the center while rotating wrist to align for stirring


Lower the object downward into the object while maintaining grasp


Rotate wrist continuously to stir the contents while holding the object


Move slightly backward and upward while holding nothing


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


Lift the object upward while rotating it to change its orientation


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


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


Close gripper to grasp the object from the object surface


Transport the object forward while rotating the wrist axially to reorient its alignment


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


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


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


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


Move backward and slightly upward to reposition while holding nothing


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


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


Open gripper to place the object on the object surface


Close gripper to grasp an object inside the object


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


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


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


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


Move downward and forward while holding nothing to approach the object


Close gripper to grasp the object backrest


Open gripper to release the object while maintaining position


Close gripper again to re-grasp the object backrest


Move downward and forward toward the object while holding nothing


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


Hold posture steady while maintaining grip on the object


Close gripper to grasp the object inside the object


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


Close gripper to grasp an object from the object


Close gripper to grasp another object from the object


Open gripper to place the object on the object


Move back toward the object while holding nothing


Lift the object upward and transport it forward while holding it


Move forward and downward toward the object while holding nothing


Open gripper to release and place the object on the surface


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


Open gripper to release and place the object


Lift the object upward while rotating the gripper to reorient the object


Transport the object to the right while reorienting it with a roll motion


Move slightly forward and adjust position while holding nothing


Move backward and upward while holding nothing


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


Move forward and downward toward the dark elongated object while holding nothing


Move downward and forward toward the dark object while holding nothing


Open gripper to place the dark object onto the pile of object


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


Lift the object vertically upward while holding it


Move slightly downward and forward toward the object while holding nothing


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


Maintain grasp and lift upward while tilting the object to flatten it


Transport the object slightly left and rotate wrist to align it with adjacent object


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


Open gripper to place the object into the object


Lift the object vertically while holding it


Transport the object horizontally toward the object while holding it


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


Move downward and forward to approach the basin while holding nothing


Move left and downward to return toward the basin while holding nothing


Lift the beige object vertically upward while holding it


Move forward and downward toward the laptop while holding nothing


Continue pushing the laptop object downward until fully closed, maintaining contact and applying gentle force


Pull the object inward while maintaining contact without grasping


Open gripper to place the object into the compartment


Retract arm backward and slightly upward while holding nothing


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


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


Open gripper to release the object at the target location


Move forward and downward toward the object while holding nothing


Close gripper to grasp an object inside the object


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


Close gripper to grasp the object from the pile


Transport the object horizontally toward the target while holding it


Transport the object forward while rotating wrist to orient it for


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


Lift the object vertically upward while holding it


Open gripper to release the object onto the object surface


Close gripper to grasp a object from the pile


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


Open gripper to release and place the object into the object


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


Push the object against the inner surface of the object while maintaining contact


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


Rotate wrist clockwise while holding the object to reorient it upside down


Move forward toward the refrigerator object while holding nothing


Move toward the object while rotating wrist to align for next grasp


Lift the object vertically while reorienting it to fold one side over


Remain stationary with gripper open and no contact


Lift vertically upward and transport backward while holding the object


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


Maintain grasp and pull the object further outward while transporting slightly backward


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


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


Reorient the object by tilting the gripper downward while transporting it slightly forward to align with the charging port


Open gripper to place the object onto the charging port


Move forward and downward into the object while holding nothing


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


Close gripper to grasp a object inside the object


Open gripper to place the object on the object surface


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


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


Apply downward pressure with the gripper to secure the object onto the object


Lift slightly and transport to the right while holding the object


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


Remain stationary with gripper open and holding nothing


Move downward and forward to approach the marker while holding nothing


Lift the marker vertically upward while holding it


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


Open gripper to release and place the marker into the object


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


Open gripper to release and place the object into the object


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


Lift the object vertically while transporting it toward the window


Transport the object horizontally toward the window while reorienting it to align with the surface


Apply horizontal force against the surface while maintaining contact and moving the object across it


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


Move forward and downward to approach the object while holding nothing


Maintain grasp and lift the object vertically upward


Open gripper to release and place the object inside the case


Move upward and slightly forward while holding nothing to approach the kitchen hood control panel


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


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


Transport the object horizontally toward the object while reorienting it to align for covering


Lower the object vertically downward toward the object while maintaining grasp


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


Open gripper to place the object onto the stack


Lift the object with contents and transport it toward the target object


Transport the object horizontally to the right while rotating wrist to tilt it outward


Move forward and upward while holding nothing


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


Lift the object vertically while rotating wrist to open the cover


Transport the object slightly left and reorient to stabilize the open position


Pull a page upward with contact while holding nothing


Close gripper to grasp an object inside the object


Close gripper to grasp a object inside the object


Move upward and reposition toward the object while holding nothing


Transport the object slightly backward while rotating wrist to align orientation


Transport the object horizontally toward the target while lowering it downward


Transport the object slightly left while rotating wrist to align orientation


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


Push upward on the object with the gripper while holding nothing


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


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


Push the object against the object surface in a horizontal motion while maintaining contact


Transport the object away from the object while reorienting it to a neutral pose


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


Move toward the curtain while holding nothing


Transport the curtain to the right while maintaining contact and pulling it horizontally


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


Transport the object to the left toward the object while holding it


Close gripper to grasp the second object


Open gripper to place the object inside the object


Move left and slightly down to approach the third object while holding nothing


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


Lift the object vertically upward while holding it


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


Move left and slightly down to approach the final object while holding nothing


Move upward and backward away from the object while holding nothing


Move backward and upward to clear the area while holding nothing


Pull the object front backward while maintaining contact


Open gripper to release the object front


Move upward and slightly backward to reposition while holding nothing


Close gripper to secure the object again before final placement


Move downward and forward toward the scattered letter object while holding nothing


Lift the grasped letter object vertically upward


Lower the object carefully to place it adjacent to the first object


Move left and slightly forward to locate the third object while holding nothing


Close gripper to grasp the letter object marked 'M'


Lower the object to position it next to the 'U' object


Move forward and upward toward the nested object while holding nothing


Close gripper to grasp the inner object after it has been partially extracted


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


Maintain grasp and rotate the object to orient it for


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


Rotate wrist clockwise while holding the object to turn it from left to right


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


Lift the object upward while rotating the wrist to detach and reorient it for closing


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


Move downward and forward to approach the left piece of while holding nothing


Close gripper to grasp the left piece of


Lift the left piece of vertically upward while holding it


Lower the left piece of into the right object and open gripper to release it


Move leftward and slightly backward to approach the right piece of while holding nothing


Close gripper to grasp the right piece of


Lift the right piece of vertically upward while holding it


Lower the right piece of into the right object and open gripper to release it


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


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


Transport the connected object slightly backward while rotating the wrist to adjust orientation


Open gripper to place the object in position


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


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


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


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


Move forward and downward toward the keypad while holding nothing


Apply downward pressure on a key of the keypad while maintaining contact and holding nothing


Remain stationary with gripper in contact with the keypad and holding nothing


Move downward and forward to approach the object while holding nothing


Lift the object upward while rotating it to flip it over


Open gripper to place the object back onto the surface


Open gripper to place the object on top of the object


Move forward and upward toward the open cupboard while holding nothing


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


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


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


Pull the right object outward while maintaining contact with the object


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


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


Open gripper to place the dark object into the object


Transport the object horizontally toward the object while holding it


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


Close gripper to grasp the patterned object


Open gripper to place the object into the object


Transport the light object horizontally toward the object while holding it


Open gripper to place the light object into the object


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


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


Apply pressure to the left object along the forward direction while maintaining contact and holding nothing


Remain stationary with gripper in contact with the left object and holding nothing


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object inside the object


Lift the object vertically upward and move it slightly outward from the object while holding it


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


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


Pull the object horizontally back across the surface while maintaining contact and holding nothing


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


Open gripper to release the object onto the target support


Lower the object vertically downward while holding it


Transport the object toward the object while holding it


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


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


Lower the object downward into the object while maintaining grasp


Rotate wrist clockwise while transporting forward, keeping object held


Tilt object downward while moving it forward and slightly right, maintaining grasp


Lower the object downward onto the surface and apply light pressure to stabilize it


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


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


Move forward and downward to approach the object while holding nothing


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


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


Transport the object horizontally forward while holding it


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


Move downward and forward toward 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


Close gripper to grasp the stirring tool inside the object


Lift the stirring tool vertically upward while holding it


Transport the stirring tool horizontally toward the center of the object while holding it


Hold the stirring tool steady inside the object without motion


Move downward and slightly forward toward the object while holding nothing


Apply vertical pressure onto the center of the object with the gripper tip while holding nothing


Move forward and upward from the object area toward the dish object while holding nothing


Close gripper to grasp the object from the dish object


Lift the object vertically and transport it forward toward the window area while holding it


Lower the object gently onto the surface and open gripper to release it while holding it until placement is complete


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


Close gripper to grasp an object from the object


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


Open gripper to release and place the object into a compartment


Move back toward the utensil object while holding nothing


Close gripper to grasp another object from the object


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


Close gripper to grasp a third object from the object


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


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


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


Lift the object and transport it to the object while maintaining grip


Transport the object horizontally toward the object while holding it


Open gripper to place the third object onto the object


Move to the fourth object on the object while holding nothing


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


Open gripper to place the fourth object onto the object


Move to the fifth object on the object while holding nothing


Open gripper to place the fifth object onto the object


Open gripper to place the sixth object onto the object


Move to the seventh object on the object while holding nothing


Close gripper to grasp the seventh object


Pull the curtain horizontally toward the robot while maintaining contact without grasp


Open gripper to place the object onto the target surface


Move forward and downward to approach the object while holding nothing


Maintain grasp and lift the object vertically upward


Lower the object downward into the object while holding it


Rotate wrist clockwise while holding the object inside the object


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


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


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


Rotate wrist slightly while moving the object in contact with the object to wipe its surface


Move forward and downward to approach the switch while holding nothing


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


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


Close gripper to grasp the object on the chess object


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


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


Transport the object forward while rotating wrist to align for pressing


Move forward toward the object while holding nothing


Pull the object backward to close the object while maintaining contact


Apply a final gentle pull to ensure the object is fully closed while maintaining contact


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


Move downward and forward toward the object basin while holding nothing


Close gripper to grasp the object from the object basin


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


Move forward and downward toward the object while holding nothing


Rotate wrist clockwise while holding the object


Hold the object steady while water flows


Lower the object gently onto the object surface while still holding it


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


Lower the object downward into the object while holding it


Open gripper to release and place the object inside the object


Retract the end-effector backward and downward while holding nothing


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


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


Open gripper to place the first object on the object


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


Move forward and downward to approach the coffee maker while holding nothing


Apply pressure to a button on the coffee maker with the gripper while holding nothing


Remain stationary with gripper in contact with the coffee maker


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


Move forward and downward to approach the object while holding nothing


Lower the object downward toward the object while maintaining grasp


Open gripper to release and place the object onto the target


Open gripper to place the object near the wall


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


Close gripper to grasp the object from the object


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


Open gripper to place the object on the back rest of the object


Close gripper to grasp the patterned object from the object


Move forward and downward into the object while holding nothing


Close gripper to grasp an object inside the object


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


Move forward and downward back into the object while holding nothing


Close gripper to grasp a second object inside the object


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


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


Move forward and downward to approach the cap while holding nothing


Maintain grasp and lift the cap vertically upward


Open gripper to place the cap on the surface


Transport the object backward while slightly reorienting it to adjust posture


Move forward and downward to approach the cube while holding nothing


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


Maintain grasp, tilt the object downward while moving it slightly forward and left toward the target


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


Transport the object toward the target while rotating wrist to orient it for scooping


Lower the object downward into the contents while holding it


Hold posture steady while in contact with the contents


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


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


Pull the blanket slightly to the left while maintaining contact without grasping


Retract upward and rightward while holding nothing after completing the pull


Push the object across the object surface to the right while maintaining contact without grasping


Transport the object further to the right while slightly reorienting it to flatten its position on the object


Close gripper to grasp the object inside the object


Transport to the bottom right side of the object while rotating the gripper to adjust object orientation


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


Move upward and backward away from the object while holding nothing


Move downward toward the object while holding nothing


Transport the object to the right while holding it


Transport the object forward and slightly downward toward the target while holding it


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


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


Lower the object downward while holding it, positioning it above the target object


Move slightly forward and adjust orientation while holding nothing


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


Apply downward force on the switch lever while maintaining contact without holding


Move downward and forward to approach the object while holding nothing


Retract gripper upward and move backward to clear the workspace while holding nothing


Move downward and forward toward the object while holding nothing


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


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


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


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


Close gripper to grasp the object inside the fridge


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


Push the object across the object surface while maintaining contact but not holding it


Pull the object back across the object surface while maintaining contact but not holding it


Push the object again across the object surface while maintaining contact but not holding it


Rotate back to orientation while moving right to return the object


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


Close gripper to grasp the light-colored object


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


Lift the object vertically upward while holding it


Move downward and left to approach the object while holding nothing


Open gripper to release the object onto the surface


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


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


Close gripper to grasp the patterned object


Lift the patterned object vertically upward while holding it


Transport the patterned object to the left while holding it


Lift vertically while transporting forward and slightly left, maintaining grasp


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


Move downward into the object while holding nothing


Transport the object horizontally toward the target location while reorienting it to prepare for placement


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


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


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


Apply downward pressure with the gripper tip onto a button on the object while holding nothing (contact only)


Remain stationary with gripper in contact with the object, maintaining pressure briefly


Maintain grasp and lift the object vertically upward


Lower the object vertically downward while holding it, guiding it onto the pole


Open gripper to release the object onto the pole


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


Lower the object into the object and tilt it to scoop contents while holding


Lift the object with contents and transport leftward toward the target location while holding


Rotate the object to tilt and release contents, then hold steady to complete transfer


Open gripper to release the object onto the surface


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


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


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


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


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


Transport the object forward while rotating wrist to align it vertically


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 away from the object and reposition toward the -lidded object while holding nothing


Close gripper to grasp the -lidded object


Transport the object toward the object while holding it


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


Retract gripper backward and slightly upward while holding nothing


Move backward and upward to reposition while holding nothing


Move forward and downward to approach the object while holding nothing


Lift the object vertically upward and transport it diagonally forward-left while holding it


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


Move forward toward the dishwasher object while holding nothing


Push the upper object inward with continuous contact while holding nothing


Move to the third object on the object while holding nothing


Open gripper to release the object into the object


Move to the sixth object on the object while holding nothing