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


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


Close gripper to grasp the second part of the object


Maintain grasp and lift upward while transporting to the left


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


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


Move upward and backward to return to initial position while holding nothing


Transport upward and slightly backward while reorienting gripper angle to align with object opening


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


Retract end-effector backward and downward to clear the object while holding nothing


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


Move forward and slightly right while holding nothing to approach the curtain edge


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


Close gripper to grasp the top object in the object


Open gripper to release the object onto the object surface


Move back toward the object while holding nothing


Close gripper to grasp the next object in the object


Transport the object slightly backward while rotating wrist to reorient it


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


Move backward and slightly left to approach the stirring tool while holding nothing


Transport the stirring tool to the right while holding it


Close gripper to grasp one edge of the object


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


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


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


Close gripper to grasp the object on the far left


Lift the object vertically while rotating it to turn it upside down


Transport the object slightly right while maintaining hold, then release contact and push it further right along the surface


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


Close gripper to grasp one end of the object


Transport the grasped end of the object to the right while slightly reorienting the grip to maintain control


Open gripper to release the object end at the new position


Move forward and downward toward the compartment object while holding nothing


Close gripper to grasp the compartment object


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


Maintain grasp and lift vertically while transporting slightly backward


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


Rotate wrist clockwise while holding the knob to adjust the setting


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


Close gripper again to secure the object after brief release or repositioning


Lower the object vertically downward toward the object while holding it


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


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


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


Open gripper to place the object on a nearby surface while holding it until release


Transport the object toward the object while holding it


Close gripper to grasp the object once more


Lift the object, move it toward the object, and tilt it to align for erasing while holding it


Apply horizontal force against the object surface with the object held, sliding it across to erase


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


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


Lift the clear object vertically upward while holding it


Transport the clear object to the left while holding it


Open gripper to place the clear object back on the surface


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


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


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


Push the third knob from the left to the right while maintaining contact and holding nothing


Close gripper to grasp the knob while establishing rigid contact


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


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


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


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


Open gripper to release and place the object onto the object


Retract upward and backward away from the object while holding nothing


Close gripper to grasp the object lying horizontally


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


Close gripper to grasp the second object lying horizontally


Transport the object forward and slightly left while holding it


Lower the object downward toward the surface while maintaining grip


Press the switch downward with the gripper tip while maintaining contact and holding nothing


Push the object slightly forward while maintaining contact without grasping


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


Hold posture steady while tilting the object to pour its contents


Move downward and forward to approach the object while holding nothing


Lift the object vertically upward while holding it


Open gripper to place the object into the object


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


Lower the object onto the surface and hold steady to wipe


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


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


Apply pressure downward on the lower button of the control panel while maintaining contact and holding nothing


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


Move forward and downward to approach the object while holding nothing


Transport the object to the right while holding it


Open gripper to place the object on the object


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


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


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


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


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


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


Apply downward pressure on the object while maintaining contact without displacement


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


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


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


Hold posture steady with no motion after releasing the object


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


Move backward and upward to clear the workspace while holding nothing


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


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


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


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


Move forward and downward to approach the knob while holding nothing


Rotate wrist clockwise while holding the knob


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


Transport horizontally to the left while holding the object


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


Lower the object into the object while maintaining grip


Lift the gripper upward away from the object while holding nothing


Move downward and forward to approach the while holding nothing


Lower the object into the and open gripper to release it


Move forward and downward to approach the object while holding nothing


Press the object lever downward to open the water flow


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


Lower the object downward into the water stream while holding it


Transport the object forward while rotating wrist to align for insertion


Lower the object downward while applying horizontal force to shove it into the object


Hold posture steady with object held inside the object


Lower the object again and apply horizontal force to further shove it into the object


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


Lower the object downward into the object while maintaining grasp


Hold posture steady while maintaining grasp inside the object


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


Lift the object vertically upward while holding it


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


Lower the object downward toward the target while holding it


Remain stationary with gripper open after placement


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


Push the object horizontally outward with the gripper while holding nothing


Open gripper to release and place the object to the right of its original position


Remain stationary with no motion or interaction


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


Transport the object forward while rotating wrist to orient it horizontally


Tilt the object downward by reorienting the gripper while holding it to initiate pouring


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


Transport the object slightly backward while holding it


Open gripper to place the object near the edge closest to the robot


Transport the object slightly to the left while maintaining grasp and subtly adjusting orientation


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


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


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


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


Maintain grasp and rotate the object around a horizontal axis to flip it over


Maintain grasp and lower the object downward onto the surface


Transport the object to the right while rotating the wrist slightly


Lift the object vertically while rotating the wrist clockwise to reorient it


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


Move downward and forward to approach the while holding nothing


Move forward and upward to approach the object while holding nothing


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


Transport the object horizontally toward the bottom rod while rotating the wrist to align its orientation


Open gripper to release the object onto the bottom rod


Push the object backward while maintaining contact and holding nothing


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


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


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


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


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


Retract upward and backward away from the object while holding nothing


Lift the object vertically while rotating it to begin unfolding


Open gripper to release the object onto the surface in a partially unfolded state


Close gripper to grasp the object from the object


Lower the object downward toward the object surface while holding it


Open gripper to release and place the object on the object


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


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


Close gripper to grasp one object from the group of utensils


Lift the grasped object vertically upward while maintaining grip


Close gripper to grasp a second object from the object


Lift the newly grasped object vertically upward while maintaining grip


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


Move leftward and slightly backward to approach the remaining object while holding nothing


Close gripper to grasp the third object from the object


Move forward and downward toward the object while holding nothing


Transport the object sideways while rotating wrist to fully open the object


Hold the object in place with no motion while maintaining grip


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


Close gripper to grasp the outer object from above while it rests inside the object


Lift the grasped object vertically upward and transport it forward and slightly right to place it on the front edge of the object


Open gripper to release the outer object onto the front edge of the object while maintaining position


Close gripper to grasp the inner object from above while it remains nested inside the outer object


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


Move downward into the object while holding nothing


Lift the object upward and move it toward the platform while holding it


Open gripper to place the object on the platform


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


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


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


Pull the object backward slightly to fully open the object while holding nothing


Close gripper to grasp the object lying on its side


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


Apply pressure vertically downward on a protruding element while holding nothing


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


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


Move forward and slightly left while holding nothing to approach the curtain edge


Pull the curtain to the left while maintaining contact without enclosure


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


Move upward and slightly forward toward the wall while holding nothing


Lift the object vertically while transporting it slightly downward and leftward, maintaining hold


Transport the object slightly left and rotate wrist to adjust orientation while holding


Transport the object to the left while rotating wrist to align it over the object basin


Lower the object downward into the object while maintaining grasp


Move forward and downward toward the adapter while holding nothing


Press the second switch from the right side of the adapter with the gripper tip while holding nothing


Remain stationary with gripper in contact with the adapter after pressing the switch


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


Move upward and slightly backward while holding nothing


Open gripper to place the object back down


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


Lower the object downward toward the object while holding it


Lift vertically while transporting upward and slightly right with object held


Lower the object downward while tilting the gripper to align the object for placement


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


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


Move forward and downward toward the object while holding nothing


Pull the object outward horizontally while maintaining contact without grasping


Move forward and downward while adjusting gripper orientation to approach the object with nothing held


Close gripper to grasp the object vertically inside the object


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


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


Move forward and downward while adjusting gripper orientation to align for next grasp


Rotate the gripper around its axis while holding the object


Push the object horizontally with continuous contact while holding nothing


Move downward and forward to approach the object while holding nothing


Transport the object forward and slightly left while holding it


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


Lift the object vertically upward while holding it


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


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


Close gripper to grasp the object on the object


Open gripper to place the object inside the object


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


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


Close gripper to grasp the object inside the object


Open gripper to release the object onto the object surface


Close gripper to grasp the spherical object


Open gripper to release the object into the object


Open gripper to release the sponge into the object


Close gripper to grasp the object after releasing the marker


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


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


Move upward and backward to approach the object while holding nothing


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


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


Lower the object downward toward the target while holding it


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


Open gripper to release the object onto the target


Move upward and slightly rightward to reposition while holding nothing


Close gripper to grasp a remaining portion of the object


Lift the object, transport it slightly leftward, and reorient to spread it over the target while holding it


Open gripper to release the object fully covering the target


Pull the zipper pull tab upward along the track while maintaining contact


Open gripper to release the zipper pull tab


Retract upward and backward to clear the object while holding nothing


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


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


Move toward the object nozzle while holding nothing


Transport the nozzle to the left while maintaining grasp and slightly reorienting to adjust alignment


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


Transport slightly to the left while rotating wrist clockwise to reorient the object


Apply downward pressure on the top surface of the object to trigger a switch


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


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


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


Move forward and downward to approach the object while holding nothing


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


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


Open gripper to place the object down while holding it


Lift the object upward, transport it toward the object, and reorient it by tilting to prepare for folding


Close gripper to grasp the object at a new location


Close gripper to grasp the object inside the object


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


Move forward and downward to approach the hanger while holding nothing


Close gripper to grasp the first object from the hanger


Retract backward and upward to clear the workspace while holding nothing


Lift the object upward and transport it backward while holding it


Open gripper to place the object into the compartment


Rotate wrist back to orientation while transporting slightly right


Transport the object to the left while holding it


Open gripper to place the object into the scoop


Transport the object to the left while rotating wrist to align it over the target surface


Lower the object downward while maintaining contact and applying gentle pressure to begin wiping


Move the object in a motion while adjusting orientation to ensure coverage during wiping


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


Transport the object forward while rotating wrist to tilt it


Open gripper to release the object into the object


Open gripper to place the object on the object


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


Move rightward and downward to approach the object while holding nothing


Move leftward and downward to approach the object while holding nothing


Lift the object vertically and transport it rightward onto the object while holding it


Open gripper to place the object inside the structure


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


Pull the object downward while maintaining contact without grasping


Move slightly upward and backward while holding nothing to reposition


Close gripper to grasp the blind object again


Push the object upward with the gripper while holding nothing


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


Move forward and downward toward the left object while holding nothing


Hold the object in the partially open position without motion


Continue pulling the left object outward to fully open it


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


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


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


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


Tilt the object downward while moving it over the object to pour contents, maintaining hold


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


Transport the letter object horizontally to the right while slightly reorienting it to align with other object


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


Move forward and upward toward the open object while holding nothing


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


Remain stationary with gripper in contact with the object after closure


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


Open gripper to release the object into the opening below


Close gripper to grasp one object from the scattered group


Lift the second object vertically upward


Transport the object to the right while holding it, aligning with the first placed object


Open gripper to place the second object adjacent to the first


Transport the object to the right while holding it, continuing the line formation


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


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


Lift upward and transport slightly left while holding the hanger


Transport upward and slightly right while reorienting the hanger to align with the rod


Move downward and forward toward the object while holding nothing


Maintain grasp and lower the object downward toward the surface


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


Transport the object horizontally toward the target while rotating wrist to orient the object opening downward


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


Open gripper to release the object at the destination


Move forward and upward to approach the object while holding nothing


Pull the object downward while maintaining contact and applying force


Move downward and slightly forward while rotating the gripper to align with the object inside the object


Close gripper to grasp the object from inside the object


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


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


Lower the object into the second-last slot of the structure and open gripper to release it


Open gripper to place the object into the holder


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


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


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


Transport the object slightly to the right while maintaining grasp and subtly adjusting orientation


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


Move forward and downward to approach the air fryer while holding nothing


Remain stationary with gripper in contact near the control panel


Move downward and forward to approach the object while holding nothing


Lift the object upward while rotating the wrist freely to align it for closing


Transport the object toward the object opening while reorienting it to match the object's orientation


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


Close gripper to grasp the -wrapped object


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


Open gripper to place the -wrapped object inside the object


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


Lift the spray object vertically upward while holding it


Transport the spray object horizontally toward the object while holding it


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


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


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


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


Open gripper to place the object onto the woven object


Move away from the object and downward toward the object with contents while holding nothing


Transport the object horizontally toward the object with contents while holding it


Open gripper to place the object into the object with contents


Move upward and backward away from the object while holding nothing


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


Move forward and slightly upward toward the object while holding nothing


Pull the object horizontally inward with continuous contact while holding nothing


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


Close gripper to grasp the object from the object


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


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


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


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


Close gripper to grasp the object from the second object


Close gripper to grasp the remaining object from the second object


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


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


Move slightly while maintaining contact to wipe the surface


Lift vertically while transporting to the right with object held


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


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


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


Open gripper to release the object into the object


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


Transport the object horizontally toward the target while rotating the wrist to orient the object opening downward


Lower the object downward into the target while maintaining hold


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


Move downward and forward toward the marker while holding nothing


Lift the marker vertically upward while holding it


Transport the marker horizontally to the right while holding it


Open gripper to release the object onto the coat object


Close gripper to grasp another part of the object


Close gripper to reinforce grip on the object


Open gripper to place the object securely on the coat object


Close gripper to grasp a remaining portion of the object


Open gripper to fully release the object onto the coat object


Move downward and forward to approach the object while holding nothing


Transport the object in a path while maintaining grip to shape it into a loop


Open gripper to release the object onto the surface in a form


Move forward and downward toward the object wire while holding nothing


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


Retract backward and upward away from the object while holding nothing


Move downward and forward to approach the keyboard while holding nothing


Remain stationary with gripper in contact with the key


Apply downward pressure on the object while maintaining contact without holding


Press the switch downward with the gripper while holding nothing


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


Open gripper to release the object onto the object


Transport the object slightly forward while reorienting it to align along the centerline


Retract gripper upward and backward while holding nothing


Hold stationary with gripper open, confirming placement


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


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


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


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


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


Move downward and slightly rotate the wrist to align with the object on the object while holding nothing


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


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


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


Remain stationary with end-effector in contact and applying pressure


Move downward and slightly forward toward the object while holding nothing


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


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


Pull the object horizontally toward the robot while maintaining contact without grasping


Lift the object vertically while transporting it upward and toward the object


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


Transport the object horizontally to the right while slightly reorienting it to align with the target position


Move downward and forward toward the empty roll while holding nothing


Lower the empty roll downward toward the holder while holding it


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


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


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


Close gripper to grasp a object from the object


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


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


Close gripper to grasp the second object


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


Open gripper to place the second object inside the object


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


Open gripper to place the third object inside the object


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


Close gripper to grasp the fourth object


Close gripper to grasp the utensil inside the object


Maintain grasp and lift the utensil vertically upward from the object


Rotate the wrist axially while holding the utensil to stir the contents in a motion


Move away from the object while holding nothing


Lower the object vertically downward into the left object basin while holding it


Open gripper to release and place the object inside the object basin


Lift the second object and transport it toward the first object while holding both


Retract gripper slightly and reposition to approach the third object while holding nothing


Transport the third object into contact with the pair and apply gentle horizontal force to connect them


Open gripper to release the third object after successful connection


Lift the fourth object and transport it toward the connected trio while holding it


Reorient the fourth object while holding, then push it into alignment to complete the connection


Transport the object toward the crate while holding it


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


Open gripper to place the object aside while maintaining position


Lift the object upward and transport it forward while holding


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


Reorient the object by tilting the gripper downward while maintaining hold


Open gripper to release and place the object into the object


Continue pulling the object inward with steady force while holding it


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


Move toward the teal-capped object while holding nothing


Close gripper to grasp the teal-capped object


Open gripper to place the -capped object onto the object


Move toward the strawberry-shaped object while holding nothing


Open gripper to place the strawberry-shaped object onto the object


Move downward and forward toward the object while holding nothing


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


Lower the object downward while holding it to cover the surface


Open gripper to release the object onto the surface


Open gripper to release and place the object on the object


Close gripper to grasp the second object in the object


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


Transport the object head to the left while holding it


Move forward and slightly downward toward the object while holding nothing


Press the top button on the right side of the object with the end-effector while holding nothing


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


Maintain grasp and lift the object vertically upward


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


Close gripper to grasp a corner of the object


Pull the object diagonally to unfold it further while maintaining contact


Open gripper to release the object corner


Move slightly upward and adjust position while holding nothing


Close gripper to grasp a new section of the object


Pull the object horizontally to smooth and extend it


Open gripper to place the object back down gently


Close gripper to grasp a remaining part of the object


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


Lift the object upward and transport it leftward while holding it


Lower the object downward into the compartment while holding it


Open gripper to release and place the object onto the hook


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


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


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


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


Lift the object upward while rotating the wrist freely to align with the opening direction


Transport the object slightly backward while reorienting it to increase the screen angle


Hold the posture steady with object held


Lift the object vertically while transporting it to the right with object held


Open gripper to place the object on the worktop


Move forward and downward toward the dish drainer while holding nothing


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


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


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


Reorient the object to a horizontal posture and hold steady for a moment


Transport the object back toward the object while rotating wrist to return object to original orientation


Move upward and backward away from the object while holding nothing


Move downward and forward to approach the object while holding nothing


Transport the object horizontally to the right while holding it


Open gripper to place the object on the object surface


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


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


Rotate the wrist to tilt the object downward while moving it over the target area


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


Rotate the gripper back to orientation while moving the object slightly backward


Transport the object horizontally toward the target while continuing to adjust its orientation


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


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


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


Move downward and forward toward the lever while holding nothing


Push the lever downward with continuous contact while holding nothing


Transport the object slightly forward while rotating wrist to align with the target


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


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


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


Close gripper to grasp the second object from the pile


Move upward and forward toward the object above the object while holding nothing


Hold position with gripper closed near the opened object


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


Remain stationary in front of the open object with gripper open


Pull the object outward while maintaining grasp on the object


Move downward and forward to approach the object while holding nothing


Lift the object vertically upward while holding it


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


Transport the object away from the object while holding it


Open gripper to release the object onto the object surface


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


Transport the object upward and to the left while reorienting it to align horizontally


Move downward and forward while rotating the wrist freely to reposition for next grasp


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


Lift vertically while rotating the object to change its orientation from lying to


Remain stationary with gripper open after releasing the object


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


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


Close gripper to grasp the second object from the object


Close gripper to grasp the third object from the object


Open gripper to place the object into the object


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


Approach the button and push it horizontally while maintaining contact


Remain stationary with gripper open after pushing the button


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


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


Close gripper to grasp the lower right object


Retract away from the lower right object while holding nothing


Move forward and downward to approach the object while holding nothing


Apply backward force while maintaining contact to open the object


Hold the object in the open position without motion


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


Lower the object downward toward the object while holding it


Retract gripper upward and move slightly backward while holding nothing


Move downward and forward to approach another object while holding nothing


Close gripper to grasp the second object


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


Press the third from last switch on the extension object with the gripper tip while holding nothing


Move forward and slightly upward toward the object while holding nothing


Lift the object vertically while rotating it to reorient its pose


Lift the object upward and transport it leftward while holding it


Open gripper to place the object onto the object


Transport the object forward while reorienting it to match the target orientation


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


Lower the object onto the object while holding it


Remain stationary with gripper open above the object


Apply downward pressure on the object to secure it


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


Move downward and forward to approach the object while holding nothing


Lower the object downward while holding it


Lift the object vertically upward while holding it


Open gripper to place the object into the object


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


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


Place the can into the object by opening the gripper


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


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


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


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


Move downward and forward toward the extension object while holding nothing


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


Move forward and downward toward the plant while holding nothing


Adjust gripper orientation and wrist angle while holding nothing to align with the target leaf


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


Transport the object forward while rotating wrist to align for placement


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


Open gripper to place the object on the surface


Move forward and downward toward the object while holding nothing


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


Lift the object upward while rotating it to adjust orientation


Transport the object horizontally while continuing to adjust its orientation


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


Rotate wrist axially while holding the object to unscrew the object


Lift the main body vertically upward while holding it


Move backward and upward to clear the workspace while holding the object


Open gripper to release and place the object on top of the target


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


Apply downward pressure with the gripper tip onto the left button while holding nothing


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


Retract upward and shift leftward to reposition while holding nothing


Lift the object vertically upward while maintaining grasp


Move downward and slightly forward to approach a new section of the object while holding nothing


Lift the object upward while rotating the wrist to adjust its orientation


Open gripper to release the object onto the target


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


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


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


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


Open gripper to release the object onto the pile


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


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


Hold position steadily with gripper open and no object held


Remain stationary near the light switch after pressing it, holding nothing


Retract backward and upward away from the light switch panel while holding nothing


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


Lift the grasped corner upward slightly and transport it forward a short distance while holding the object


Open gripper to release the object at the new position


Move forward and downward toward the object while holding nothing


Lift the stirring stick vertically upward while holding it


Lower the stirring stick into the object while holding it


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


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


Transport the object horizontally away from the object while holding it


Push the object to the right while maintaining contact without grasping


Move upward and backward while holding nothing to approach the object


Move forward and slightly upward toward the object while holding nothing


Close gripper to grasp the object firmly


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


Close gripper to grasp the object on the object


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 surface


Retract slightly backward and upward to reset position while holding nothing


Move upward and reorient gripper angle to prepare for next grasp


Close gripper to grasp one edge of the partially unfolded object


Move forward and downward to approach the object while holding nothing


Open gripper to place the object on the object


Lift the object vertically while holding it


Move backward and left to approach the object while holding nothing


Maintain grasp and lift the object vertically upward


Transport the object horizontally to the right while holding it


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


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


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


Lower the object vertically downward into the object basin


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


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


Lower the object vertically downward toward the target while holding it


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


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


Transport the object slightly to the left while maintaining contact and pulling one side to unfold it


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


Open gripper to place the object on the object surface


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


Transport the object backward while maintaining contact and applying pulling force


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


Close gripper to grasp the object while maintaining contact with it


Close gripper again to re-grasp the object on the object


Lower the object downward toward the object surface while holding it


Open gripper to release the object again


Move forward and upward while holding nothing to approach the object


Push the top object outward with the gripper while holding nothing


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


Move downward and forward to approach the cap while holding nothing


Lift the cap vertically upward while holding it


Transport the cap horizontally toward the marker while holding it


Open gripper to place the cap onto the marker


Apply pressure with the gripper tip onto the button while holding the object steady


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


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


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


Lower the object into the object and push some object toward the object tip while holding nothing (contact only)


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


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


Pull downward while maintaining contact with the object to tear it off


Push the top left object inward while maintaining contact and holding nothing


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


Open gripper to place the object on the left side of the object


Move forward and downward to approach the object while holding nothing


Push and pull the object across the inner surface of the object while maintaining contact without grasping


Transport the object away from the object and lower it toward the object while holding it


Open gripper to place the object on the object


Lower the object onto the surface and push it horizontally across the surface while maintaining contact


Rotate the wrist axially to adjust the object orientation while maintaining hold


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


Apply horizontal pulling force along the object's extension direction while maintaining contact and holding nothing


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


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


Close gripper to grasp the corner of the object


Close gripper to grasp the opposite corner of the object


Open gripper to place the object down, completing the fold


Move downward and forward to approach the object while holding nothing


Lift the object vertically upward while holding it


Transport the object toward the toy object while reorienting it to a wiping posture


Open gripper to release the object onto a designated location


Close gripper to grasp a part of the object again


Lower the object downward while maintaining grasp, then apply vertical pressure on the top surface


Lift vertically while transporting forward and slightly right with object held


Move forward and downward into the object while holding nothing


Move forward and downward while adjusting gripper orientation to approach the target from above with nothing held


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


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


Tilt the object downward by rotating the gripper in pitch while holding it


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


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


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


Move downward and forward into the object while holding nothing


Close gripper to grasp the object from the object grid


Transport the object toward the object while rotating wrist to align it under the water flow


Re-close gripper to secure the object after slight adjustment


Hold the object steady under the running water for rinsing


Transport the object backward while rotating wrist to tilt it outward


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


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


Move laterally to approach the second object while holding nothing


Close gripper to grasp the second object lying on the object


Move left while holding nothing to approach the object nozzle


Close gripper to grasp the object nozzle


Adjust position slightly upward and reorient gripper to align with the object while holding nothing


Move horizontally toward the right object while holding nothing


Grasp and pull the object outward to open the right object while maintaining contact without enclosure


Hold position steadily with gripper in contact with the object after initiating opening


Open gripper to release contact with the object


Move forward and upward toward the top cupboard while holding nothing


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


Close gripper to grasp the object emerging from the object


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


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


Open gripper to place the object inside the object


Transport the object forward and slightly right while rotating wrist to align it vertically above the target location


Lower the object downward while maintaining vertical alignment, then open gripper to release it into the target


Move forward and downward toward the object while holding nothing


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


Close gripper to grasp the top object from the fallen stack


Transport the object to the right while rotating wrist to adjust orientation, still holding the object


Transport the object toward the surface while rotating wrist to align for cleaning


Apply horizontal force to slide the object across the surface while maintaining contact


Close gripper to grasp the object from inside the object


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


Move slightly left and upward to reposition while holding nothing


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


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


Lift the object vertically upward while holding it


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


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


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


Lower the object downward toward the target while maintaining grasp


Remain stationary with gripper open near the object


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


Transport the object forward while rotating the wrist to reorient it


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


Move downward and forward toward the object while holding nothing


Move slightly left and downward toward the object again while holding nothing


Close gripper to grasp a second object under the object


Open gripper to release the second object onto the object surface


Close gripper to grasp a fourth object under the object


Lift the fourth object vertically upward while holding it


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


Close gripper to grasp a sixth object under the object


Lift the sixth object vertically upward while holding it


Lift the seventh object vertically upward while holding it


Transport the object slightly to the left while holding it, with minor vertical adjustment


Transport the object slightly backward while rotating wrist to tilt it


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


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


Apply pressure with the object against the switch on the power strip while holding nothing


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


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


Transport the object horizontally across the object while maintaining contact and applying light pressure to wipe the surface


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


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


Open gripper to release the object onto a nearby surface


Close gripper to grasp the next object in the stack


Lift the object vertically while simultaneously transporting it horizontally away from the object area


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


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


Lift the and object vertically upward while holding it


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


Transport the object nozzle to the left while slightly adjusting gripper orientation to maintain stable contact


Move forward and upward toward the object while holding nothing


Pull the object horizontally backward while maintaining contact without grasping


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


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


Transport the sponge horizontally to the right while rotating wrist to orient it for wiping


Move downward to contact the object surface and apply light pressure while holding the sponge


Slide the sponge across the object surface from left to right while maintaining contact and holding it


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


Close gripper to grasp the object with hole


Lift the object with hole vertically upward while holding it


Lift the object vertically upward while holding it


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


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


Open gripper to place the screwdriver into the holder


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


Press the control button on the stovetop panel with the gripper tip while holding nothing


Remain stationary near the control panel while holding nothing


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


Push the folder flap downward with gripper contact while holding nothing


Push the folder flap further downward with gripper contact while holding nothing


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


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


Move forward and slightly downward toward the object while holding nothing


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


Move the object closer to the object surface and adjust its orientation for contact while holding it


Apply horizontal force against the object surface to wipe it while maintaining contact without holding the object rigidly


Transport the object away from the object while rotating it slightly to disengage contact, still holding it


Apply horizontal force to slide the object backward while maintaining contact and holding it


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


Open gripper to place the object inside the object


Move forward and downward toward the top object while holding nothing


Pull the top object outward with continuous contact while holding nothing


Maintain grasp and pull the object further outward while transporting it horizontally away from the object


Pull the object horizontally outward while maintaining contact


Retract gripper upward and move back toward the object while holding nothing


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


Rotate the object to align its orientation while transporting it leftward and slightly downward


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


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


Move back toward the remaining object while holding nothing


Open gripper to place the second object next to the first one


Move forward and downward to approach the adapter while holding nothing


Press the second left switch on the adapter with the gripper tip while holding nothing


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


Close gripper to grasp a piece of object from the top of the pile


Close gripper to grasp a third piece of object from the pile


Move forward and downward to approach the object while holding nothing


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


Close gripper to grasp the object of the second object


Lift the second object vertically upward while holding it


Transport the object horizontally leftward while holding it


Open gripper to release and place the object onto the object


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


Maintain grasp and lift the object vertically upward


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


Close gripper to grasp a amount of content from the object


Lift the grasped content upward and transport it horizontally toward the object


Rotate the wrist around the vertical axis while holding the object to flip it


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


Close gripper to grasp the opposite edge of the object


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


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


Move forward and downward toward the object while holding nothing


Rotate wrist axially while holding the object to twist the nozzle


Move forward and upward toward the target while holding nothing


Apply downward pressure on the target with the end-effector while holding nothing


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


Rotate wrist back to orientation while transporting slightly right to position over target


Lift slightly and transport backward while holding the object


Push the object to the right while holding nothing


Push the object further to the right while holding nothing


Move forward and slightly upward toward the curtain while holding nothing


Close gripper to grasp the curtain object


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


Transport the curtain to the left while slightly reorienting the gripper to maintain grip and alignment


Move forward and upward while holding nothing to approach the object


Maintain grasp, tilt the object downward and lower it toward the target


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


Close gripper to grasp the object from the object


Transport the object horizontally toward the object while holding it


Lower the object into the object while holding it


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


Move toward the object and adjust wrist orientation to align with the object while holding nothing


Push the object closed using the end-effector while maintaining contact but not grasping


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


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


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


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


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


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


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


Move forward and downward to approach the pack while holding nothing


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


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


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


Move downward and adjust wrist orientation to approach the second object inside the object


Close gripper to grasp the second object inside the object


Move downward and forward to approach the object while holding nothing


Transport the object to the left while maintaining contact and pushing object horizontally leftward


Continue transporting the object further left while pushing remaining object toward the left edge


Move toward the object while rotating wrist to align for grasping the object


Lift the object upward while reorienting it to begin folding


Fold the object a second time while maintaining grip


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


Lift the fork out of the object and transport it away while holding it


Open gripper to place the object behind the other object


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


Open gripper to release and place the object onto the stack


Press the object against the brim of the object while maintaining contact


Open gripper to release the object onto the object


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


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


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


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


Hold the object steady in position near the hook while maintaining grip


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


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


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


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


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


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


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


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


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


Pull the object inward along its hinge axis while maintaining contact without grasp


Hold position steadily with gripper in contact with the object as it closes


Rotate the object by tilting the gripper downward to initiate pouring while holding it


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


Open gripper to release the object into the object


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


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


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


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


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


Apply vertical pressure onto a key on the keyboard while maintaining contact without displacement


Remain stationary with gripper in contact with the keyboard


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


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


Open gripper to release and place the object onto the sitting base


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the topmost object in the stack


Close gripper to grasp the second object from the top


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


Move downward and forward to approach the torch while holding nothing


Rotate the wrist clockwise while holding the torch to turn off the light


Move downward and slightly left to approach the object while holding the object


Reorient the object by rotating it horizontally while transporting it rightward to begin folding


Adjust position slightly forward while holding nothing


Move forward and slightly upward toward the object while holding nothing


Press the upper switch with gripper contact while holding nothing


Retract backward and upward away from the switch while holding nothing


Move forward and upward toward the light switch while holding nothing


Move forward and upward to approach the target while holding nothing


Open gripper to place the object into the object


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


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


Press the button on the dishwasher control panel with the gripper tip while holding nothing


Retract backward and upward away from the dishwasher while holding nothing


Close gripper once more to ensure stable hold of the object


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


Retract upward and backward away from the switch while holding nothing


Remain stationary with gripper open after placing


Close gripper to grasp the object from the surface


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


Move slightly left while holding nothing to reposition for the next switch


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


Move forward and downward to approach the object while holding nothing


Pull the object outward horizontally while maintaining contact without grasping


Lower the object vertically downward while holding it, guiding it into the object


Close gripper to grasp the object on top of the object


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


Transport the object horizontally to the right while holding it


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


Pull the object horizontally outward while maintaining contact without enclosing it


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


Open gripper to release and place the object into the object


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


Move downward and right to approach the object while holding nothing


Move upward and toward the left object while holding nothing


Close gripper to grasp the object on the top object


Transport the object downward and forward while rotating wrist to adjust orientation


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


Maintain grasp and lift upward while transporting backward toward the sofa


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


Transport upward and backward while reorienting the gripper to align with the object opening


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


Retract upward and backward away from the object while holding nothing


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


Move downward and forward to approach the object while holding nothing


Transport the object backward while maintaining grasp and slightly reorienting to stabilize


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


Lift the grasped object vertically upward


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


Transport the object to the left while reorienting to match alignment with previously placed object


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


Maintain grasp and lift vertically upward out of the object


Lift the end-effector upward after releasing the object


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


Open gripper to release and place the object in the object


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


Move forward and downward toward the target while holding nothing


Hold posture steady to allow contents to transfer


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


Remain stationary with gripper open after releasing the object


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


Maintain grasp and lift the beige object vertically upward


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


Transport the object to the left while holding it


Open gripper to place the object onto the object next to the beige object


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


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


Move downward and forward to approach the object while holding nothing


Hold the object in the open position steadily


Close gripper to re-grasp the object firmly


Move away from the object area while holding nothing


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


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


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


Apply pressure along the forward direction to press the button while holding nothing


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


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


Lift the object vertically while transporting it toward the target location


Move slightly right and downward to reposition while holding nothing


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


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 top of the object


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


Close gripper to grasp an object from the bed surface


Transport the object horizontally toward the center while rotating the gripper to adjust orientation


Open gripper to release and place the object at the center position


Lift the third object vertically upward while maintaining grasp


Move to approach the fourth object while holding nothing


Lift the fourth object and transport it to the right side of the central stack while holding it


Transport the object horizontally toward the object while holding it


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


Lower the object downward into the compartment while maintaining grasp


Open gripper to release and place the object inside


Lift the right object vertically upward while holding it


Move forward toward the object while holding nothing


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


Move horizontally to approach the second object while holding nothing


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


Transport the object to the left while rotating the gripper to align orientation for stacking


Close gripper to grasp a piece of object


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


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


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


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


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


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


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


Open gripper to place the object into the target object


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


Pull the object further outward and transport it slightly backward while holding it


Hold the object steady in place without motion


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


Push the left object inward with continuous contact while holding nothing


Move forward and slightly upward toward the light switch while holding nothing


Press the right side of the light switch with the gripper while holding nothing


Move downward and slightly forward toward the object while holding nothing


Reorient the object by tilting the gripper while maintaining hold


Close gripper to secure another section of the object


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


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


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


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


Apply pressure straight onto the button on the object control panel while holding nothing


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


Lift the sheet upward while rotating it to fold it


Move downward and forward to approach the sheet while holding nothing


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


Open gripper to place the sheet into the object


Close gripper to grasp the remaining sheet


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


Apply horizontal pulling force to open the object while maintaining contact with the object


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


Transport the object horizontally toward the target location while reorienting it to tilt downward for pouring


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


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


Push the closest object forward while maintaining contact and holding nothing


Tilt the object downward by reorienting the gripper while holding it, then hold steady to allow contents to pour out


Rotate wrist clockwise while holding the object to reorient it


Lift the object upward, transport it slightly right, and reorient it by tilting the gripper while holding


Open gripper to place the object down while maintaining partial contact


Close gripper to grasp the object once more


Open gripper to place the object in a configuration


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


Open gripper to release and place the object into the object


Retract upward and shift position to approach the object while holding nothing


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


Push the top left object inward with the gripper while holding nothing


Transport the object upward and slightly left while rotating wrist to align it perpendicular to the object surface


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


Pull the object horizontally across the object surface from right to left while maintaining contact without grasping


Transport the object downward and slightly right while holding it, then lower it toward the object edge


Move rightward and slightly backward to approach the object again while holding nothing


Open gripper to place the object back onto the original surface


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


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


Push the object downward with contact to close the object


Move forward and downward to approach the object while holding nothing


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


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


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


Maintain grasp and lift the object vertically upward


Transport the object horizontally to the right while holding it


Tilt the object downward by rotating its orientation while holding it


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


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


Lower the object downward toward the object while maintaining hold


Open gripper to release the object into the object


Move upward and away from the object while holding nothing


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


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


Lift vertically upward while transporting slightly left and backward with object held


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


Lower the object downward while maintaining hold and alignment


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


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


Move downward and forward toward the scattered pieces while holding nothing


Close gripper to grasp one piece from the object surface


Transport the piece toward the object while slightly reorienting the grip for alignment


Open gripper to place the object on the target structure


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


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


Move forward and downward toward the object while holding nothing


Lower the object downward toward the object while holding it


Open gripper to release and place the object into the object


Lift the roll vertically upward while holding it


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


Lower the roll downward toward the left side of the object while holding it


Open gripper to place the roll on the left side of the object


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


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


Lift the dark object vertically upward while holding it


Transport the light object to the left while holding it


Move downward and right toward the remaining light object while holding nothing


Close gripper to grasp the remaining light object


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


Open gripper to release the object into the object


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


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


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


Close gripper to grasp the object on the left


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


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


Transport the object horizontally toward the object while holding it


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


Move toward the next object while holding nothing


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


Close gripper to grasp another portion of the object


Lift the object, transport it to the left, and reorient it by tilting to unfold


Open gripper to release the object while maintaining partial contact


Move slightly downward and right to adjust position while holding nothing


Close gripper to grasp a edge of the object


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


Lift the object vertically while transporting it upward and backward


Move forward and downward to approach the object while holding nothing


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


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


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


Move downward and forward to approach the console while holding nothing


Apply vertical pressure onto a button on the console while holding nothing


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


Lift the object vertically while rotating it to invert its orientation


Transport the object horizontally while maintaining inverted orientation


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


Extend end-effector forward and apply pressure to the second button from the right on the front panel


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


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


Transport horizontally toward the object holder while maintaining grip on the object


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


Rotate the wrist slightly while transporting the object horizontally into the object cavity


Open gripper to release and place the object inside the object


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


Move toward the object and adjust gripper orientation to align with the object while holding nothing


Push the object closed with the gripper while maintaining contact but not grasping


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


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


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


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


Close gripper to grasp the lever of the object


Push the lever downward while maintaining contact without grasping


Rotate wrist to return object to orientation and transport backward while holding


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


Close gripper to grasp the broken object


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


Close gripper to grasp an object from the object


Move toward the next object on the object while holding nothing


Close gripper to grasp a fourth object from the object


Transport the object forward while rotating wrist to align it horizontally above the object


Lower the object vertically downward into the object while holding it


Lift the object slightly upward, then lower it back down repeatedly while holding it (four cycles)


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


Move forward and downward toward the object while holding nothing


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


Open gripper to place the object on the right side, overlapping with another object


Move left and downward toward the denim garment while holding nothing


Close gripper to grasp the denim garment


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


Open gripper to place the denim garment on top of the previously positioned object, creating overlap


Move slightly backward and adjust position toward the jacket while holding nothing


Move downward and forward toward the clear object while holding nothing


Hold posture steady while maintaining contact with surface


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


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


Open gripper to place the object near the wall while maintaining position


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


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


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


Move slightly left and downward to reposition while holding nothing


Transport the object further to the right while holding it


Open gripper to release the object while maintaining position


Lift the object vertically upward while transporting it slightly backward


Rotate the object to tilt it while moving it horizontally to the left


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


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


Apply pressure downward on a protrusion while maintaining contact without displacement


Move slightly downward and forward while approaching the next object, then close gripper to grasp it


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


Open gripper to place the object into the object


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


Transport the object to the right while holding it


Close gripper to grasp the fourth object


Retract upward and backward to a neutral position while holding nothing


Transport the object horizontally toward the object while holding it


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


Close gripper to grasp the object on the object top


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


Press the object knob with the gripper while holding nothing


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


Maintain grasp and lift the object vertically upward


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


Lift the object vertically upward while holding it


Transport the object horizontally toward the rod while holding it


Lower the object while slightly reorienting it to align with the rod


Open gripper to release the object onto the rod


Move downward and forward to approach the object while holding nothing


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


Lower the object downward while maintaining grip and tilt


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


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


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


Close gripper to grasp an object from the object


Transport the object slightly forward while rotating wrist to align orientation


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


Move forward and downward to approach the object while holding nothing


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


Close gripper to grasp the light-colored object


Maintain grasp and lift the object vertically upward


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


Transport the object upward and toward the open object while rotating wrist to align orientation


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


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


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


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


Move inward into the opened object while holding nothing


Reorient the object by tilting the gripper slightly while holding it


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


Lower the object toward the object while holding it


Move backward and slightly left to return to the starting area while holding nothing


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


Apply vertical pressure onto a key on the keyboard while holding nothing


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


Transport the object horizontally into the object while lowering it gently


Open gripper to release and place the object inside the object


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


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


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


Lower the object vertically while maintaining grasp to position it around the rod


Move forward and downward to approach the object while holding nothing


Lift the object vertically upward while holding it


Transport the object horizontally to the left while holding it


Tilt the object downward by rotating its orientation while holding it


Open gripper to release the object onto the surface


Move downward and forward to approach the object while holding nothing


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


Push the object forward across the object surface while maintaining contact


Pull the object backward across the object surface while maintaining contact


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


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


Lower the object downward into the opening while maintaining grasp


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


Move back leftward and slightly downward to approach the next piece of while holding nothing


Close gripper to grasp the second piece of crumpled


Transport the second piece of to the right while reorienting to position it over the object


Move leftward and slightly downward to approach the third piece of while holding nothing


Close gripper to grasp the third piece of crumpled


Lift the third piece of crumpled vertically upward while holding it


Open gripper to release the third piece of into the object


Move leftward and downward to approach the fourth piece of while holding nothing


Close gripper to grasp the fourth piece of crumpled


Lift and transport the fourth piece of to the right while holding it


Open gripper to release the fourth piece of into the object


Transport the object horizontally while continuing to reorient it for alignment


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


Pull the top middle object outward while maintaining contact and holding nothing


Close gripper to grasp the first object inside the object


Close gripper to grasp the second object inside the object


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


Close gripper to grasp the object again on the object


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


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


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


Lift the disc vertically upward while holding it


Lift the second disc vertically upward while holding it


Lower the second disc downward and open gripper to place it onto the target location


Remain stationary with gripper closed on the object, maintaining position


Rotate wrist slightly while transporting the object sideways to clear the object opening


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


Move slightly downward and forward while holding nothing to verify closure


Open gripper to place the object aside while no longer holding it


Lower the object downward and release it onto the target while holding it until contact is made


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


Transport the object slightly forward while holding it


Move forward and downward toward the top object while holding nothing


Pull the object horizontally outward while maintaining contact but not holding the object rigidly


Hold posture steady to pour while maintaining grasp


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


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


Maintain grasp, lift upward, transport to the left, and rotate wrist to tilt the object


Move backward and upward away from the appliance while holding nothing