Move forward and downward to approach the object while holding nothing


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


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


Open gripper to release the object inside the object


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


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


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


Close gripper to grasp one object from the group on the left


Move back toward the left to approach the remaining object while holding nothing


Close gripper to grasp a second object from the group on the left


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


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object inside the object


Move upward and slightly left toward the object while holding nothing


Pull the left object outward using the object while maintaining contact


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


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


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


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


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


Close gripper to grasp the scoop inside the object


Lift the scoop vertically upward while holding it


Transport the scoop toward the object while rotating the wrist to orient the scoop opening downward


Transport the scoop back toward the object while holding it


Transport the object to the left while holding it, and slightly reorient to align with the fork


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


Continue pushing the switch to the right with contact while holding nothing


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


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


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


Close gripper to grasp the object securely


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


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


Close gripper to grasp the object inside the carrier object


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


Move forward and upward while holding nothing to approach the object


Push the top right object closed with continuous contact while holding nothing


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


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


Move leftward and downward toward the cutlery object while holding nothing


Close gripper to grasp another object inside the object


Close gripper to grasp a third object inside the object


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


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


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


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


Move downward and forward to approach the object while holding nothing


Move forward and downward to approach the object on the right arm of the sofa while holding nothing


Open gripper to place the object on the left arm of the sofa


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


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


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


Transport horizontally toward the coat hook while adjusting gripper orientation to align with the hanger


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


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


Maintain grasp and lift vertically while transporting upward and slightly backward


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


Open gripper to place the object inside the previously placed object


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


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


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


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


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


Lower the object downward into the object while holding it


Move downward and forward toward the dishwasher object while holding nothing


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


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


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


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


Move downward and slightly left to grasp the edge of the object while holding nothing


Close gripper to grasp a triangular object


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


Lift the object vertically and transport it forward while holding it


Open gripper to place the object forward on the object


Lift the object vertically while rotating it to change its orientation for unfolding


Close gripper to grasp the ribbon object


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


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


Maintain grasp, lift slightly and transport forward while holding the object


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


Hold the object steady in position while maintaining grip


Move forward and upward toward the top object while holding nothing


Close gripper to grasp the object inside the object


Lift the object vertically upward while holding it


Open gripper to release the object onto the surface


Lift vertically while transporting backward and slightly left with object held


Open gripper to place the object into the sneaker


Open gripper to place the sneaker on the surface


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


Push the first right switch to the right while maintaining contact and holding nothing


Move horizontally to the right to approach the second right switch while holding nothing


Retract backward and upward away from the switches while holding nothing


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


Close gripper to grasp the object from the top object


Transport the object downward and backward toward the bottom object while holding it


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


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


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


Open gripper to release the object into the object


Retract upward and move slightly right to clear the object while holding nothing


Rotate wrist axially while holding the object to align with the switch


Maintain grasp and lift upward while moving horizontally to the left


Maintain grasp and lift upward while moving horizontally to the right


Remain stationary with gripper open, maintaining position near the object


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


Move forward and downward toward the object while holding nothing


Transport the object horizontally across the surface while slightly reorienting it to align for wiping


Push the object across the surface in contact, applying horizontal force to wipe


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


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


Transport the object back toward the object while reorienting to position


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


Apply pressure downward onto the first button of the object while holding the object


Move laterally to position over the second button while adjusting orientation


Apply pressure downward onto the second button of the object while holding the object


Move forward and slightly upward toward the target location while holding the object


Lower the end-effector downward while maintaining contact and applying vertical pressure on the top of the object


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


Transport the object forward toward the object while reorienting the gripper to align the object tip with the surface


Apply gentle pressure against the object surface with the object tip while holding it steady


Transport the object slightly upward and backward while reorienting to disengage from the object


Open gripper to release the object onto the object surface


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


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


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


Move upward and backward to clear the area while holding nothing


Rotate wrist clockwise while holding the object to stir


Transport the object to the right while rotating it to align for stacking


Close gripper to grasp the next object from the stack


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


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


Move downward and forward to approach the object while holding nothing


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


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


Lift the left shoe vertically while rotating it to tilt sideways


Transport the left shoe horizontally to the right while holding it sideways


Open gripper to place the left shoe sideways on the surface


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


Rotate wrist freely to align gripper orientation toward the object


Move forward while maintaining contact and applying horizontal force to push the object open


Move upward and backward to approach the next target while holding nothing


Move forward and slightly downward toward the holder while holding nothing


Adjust gripper orientation to align with the target object while holding nothing


Move laterally left and slightly upward to position above the target object while holding nothing


Transport the object to the right while slightly reorienting it to restore original orientation


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


Lift the object vertically upward while maintaining a firm grasp


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


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


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


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


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


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


Lift upward and transport forward while holding the object


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


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


Hold position briefly after placing the object


Move forward and downward toward the object while holding nothing


Close gripper to grasp the object on the object


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


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


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


Open gripper to release the object onto the center of the couch


Move forward and upward toward the curtain while holding nothing


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


Move downward and forward to approach the object while holding nothing


Close gripper to grasp the topmost object from the stack


Lift the object vertically upward while transporting it toward the right-side structure


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


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


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


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


Move downward and forward toward the object area while holding nothing


Close gripper to grasp another object from the object


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


Open gripper to place the can onto the object


Move toward the can while holding nothing


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


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


Move forward toward the chessboard while holding nothing


Close gripper to grasp the object on the chessboard


Transport the object slightly forward while holding it


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


Tilt the object downward while moving it closer to the right object to initiate pouring


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


Close gripper to grasp a soft object from the pile


Open gripper to release and place the object further left on the object


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


Close gripper to grasp a third object from the pile


Rotate the object around a horizontal axis to flip it upside down while holding it


Rotate the object around a horizontal axis to further adjust its orientation while holding it


Open gripper to place the object in its final position


Move downward and forward toward the third object while holding nothing


Move upward and backward to reset position while holding nothing


Move downward and forward toward the fourth object while holding nothing


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


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


Move forward and downward toward the object while holding nothing


Move forward and downward toward the shape sorter while holding nothing


Move forward and slightly left while adjusting gripper orientation without holding anything


Move upward and rotate wrist freely to reposition above the target area while holding nothing


Hold posture steady while holding the object


Transport the scraper to the pile of spilled items and push them toward the left while maintaining contact


Transport the object toward the object while holding it


Lift the object upward, transport it to the left, and simultaneously reorient it to tilt the opening downward while holding


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


Open gripper to release and place the object onto the stack


Rotate the object around its horizontal axis to lay it on its side while holding it


Move forward and slightly downward toward the object while holding nothing


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


Hold position steadily with gripper in contact with the closed object


Lower the object downward toward the second object while holding it


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


Transport the object to the left while reorienting to match alignment with the assembled pair


Lower the object downward toward the assembled pair while holding it


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


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


Lower the object into the object while holding it


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


Hold the object steady in tilted posture without motion


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


Lift the object vertically while rotating it to change its orientation from horizontal to


Push the object horizontally to turn on the water flow while holding nothing


Rotate wrist axially while holding the object to adjust flow or secure position


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


Move forward and downward to approach the jar while holding nothing


Close gripper to grasp the object inside the jar


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


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


Rotate the gripper to tilt the object downward while transporting it slightly toward the object


Move forward and downward to approach the object while holding nothing


Rotate gripper to reorient the object while holding it


Open gripper to place the object into the object


Move forward and slightly upward toward the refrigerator while holding nothing


Hold the object in the open position without further motion


Move downward and forward to approach the piano keys while holding nothing


Apply vertical pressure onto a single key with the gripper tip while holding nothing


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


Retract upward and shift rightward to approach another object while holding nothing


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


Close gripper to grasp the top object of the sandwich maker


Lift upward while rotating wrist slightly to begin opening the object


Transport the object backward and upward while reorienting it to fully open the sandwich maker


Open gripper to release and place the object in the open position


Pull the topmost object on the right open while holding nothing


Move inward into the opened object and adjust gripper orientation while holding nothing


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


Move slightly backward and upward while holding the object


Transport the object to the side while rotating wrist to tilt the object horizontally


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


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


Open gripper to release and place the object onto the vertical stack


Hold position steadily with no motion after placement


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


Lift the object vertically while transporting it slightly backward to align with the center of the object


Transport the object horizontally toward the object while reorienting it to a flatter posture


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


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


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


Transport the object to the right while maintaining grasp and applying slight pulling force to straighten it


Push the object front panel inward to close it while maintaining contact


Press the left switch with the gripper tip while holding nothing


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


Lift the object vertically and transport it leftward while holding it


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


Move downward and slightly forward toward the object while holding nothing


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


Transport the object to the right while holding it


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


Lower the object downward while holding it toward the object


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


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


Lower the object downward while holding it into the coffee maker chamber


Retract the end-effector backward while holding nothing


Pull the object inward and transport the object slightly toward the closed position while holding it


Lift vertically upward and transport slightly backward while holding the object


Push the object horizontally across the surface while maintaining contact


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


Transport the object backward while rotating wrist to tilt it upward


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


Move downward and forward toward the corner of the bed while holding nothing


Close gripper to grasp the object at the corner of the bed


Pull the object diagonally toward the right corner of the bed while maintaining contact but not fully enclosing it


Open gripper to release the object after positioning it over the right corner


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


Transport the object horizontally toward the structure while holding it


Lower the object vertically downward onto the rod while maintaining grasp


Remain stationary with gripper in contact with the closed object


Transport the object horizontally to the left while holding it


Transport the inner object horizontally to the left while holding it


Close gripper to grasp the object vertically from inside the object


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


Open gripper to release the object onto the object surface


Move forward and downward to approach the object while holding nothing


Lift the object upward while rotating it to adjust orientation


Open gripper to release the object onto the object


Close gripper to grasp an object inside the object


Open gripper to release the object outside the object


Close gripper to grasp a second object inside the object


Close gripper to grasp a third object inside the object


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


Move downward and forward toward the crate while holding nothing


Close gripper to grasp the object inside the crate


Move forward toward the cupboard object while holding nothing


Move downward and forward toward the object while holding nothing


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


Transport the object upward and slightly left while holding it


Hold the object steady in position without motion


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


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


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


Rotate wrist clockwise while holding the object to unscrew the cap


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


Close gripper to grasp the object around the stake


Maintain grasp and lift the object vertically upward off the stake


Transport the object horizontally to the right while holding it


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


Close gripper to grasp the knob on the lamp head


Rotate wrist clockwise while holding the knob to twist it


Open gripper to release the knob and stop holding it


Retract upward and backward away from the lamp head while holding nothing


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


Transport the object horizontally across the object surface while rotating the wrist to adjust its orientation for wiping


Move downward and slightly left to approach the tape roll while holding nothing


Lift the tape roll upward and transport it to the left while holding it


Transport the object further to the right while continuing to reorient it


Hold the object steady in current position


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


Close gripper to grasp the first object on the coat object


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


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


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


Close gripper to grasp the second object on the coat object


Lift the object vertically upward while holding it


Apply pressure to the second switch from the right with the gripper tip while holding nothing


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


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


Lower the object vertically into the object while maintaining grasp


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


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


Rotate gripper back to orientation and move backward while holding nothing


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


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


Apply pressure downward on a button while holding nothing


Move upward and slightly right to retract while holding nothing


Transport the object slightly left and rotate wrist to orient it bottom-first while holding


Lower the object downward toward the object while holding


Open gripper to release the object onto the object


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


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


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


Move downward and toward the object while holding nothing


Close gripper to grasp an object inside the object


Move downward and forward toward the coiled object while holding nothing


Lift the object vertically upward while holding it


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


Close gripper to grasp the remaining segment of object


Lift the object segment vertically upward while holding it


Transport the object segment toward the object while reorienting to feed it in smoothly


Move downward and forward toward the last visible object portion on the object while holding nothing


Close gripper to grasp the final object portion


Lift the final object portion vertically upward while holding it


Open gripper to release and place the final object portion into the object


Move downward and forward to approach the object while holding nothing


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


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


Transport the object toward the object while holding it steadily


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


Remain stationary with gripper open, holding nothing


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


Reorient the object by tilting it while holding it steady


Retract arm backward and downward to return to neutral position while holding nothing


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


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


Remain stationary with gripper in contact and holding nothing after completing the push


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


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


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


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


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


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


Close gripper to grasp the object segment


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


Close gripper to grasp the final object segment


Open gripper to release and place the final object segment into the object


Close gripper to grasp the loose object end


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


Move slightly downward and adjust position near the object while holding nothing


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


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


Transport the object horizontally toward the target location while holding it


Lower the object onto the tabletop and apply gentle pressure to lay it


Slide the object across the tabletop to the right while maintaining contact without grasping


Continue sliding the object further to the right across the tabletop while maintaining contact


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


Press the button on the washing machine with the gripper tip while holding nothing


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


Press the object against the object surface to write


Open gripper to release the object onto the object rail


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


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


Transport the object slightly backward while holding it


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


Close gripper to grasp the right edge of the object


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


Rotate the object slightly counterclockwise while moving it further left to begin folding


Close gripper to grasp an object from the object


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


Move back toward the object while holding nothing


Close gripper to grasp a second object from the object


Open gripper to place the object onto the object


Close gripper to grasp a fourth object from the object


Move toward the object while holding nothing


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


Open gripper to place the object into the object


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


Lift the object vertically upward while holding it


Transport the object to the right while holding it


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


Hold the object steady in tilted posture to allow complete emptying


Reorient the object back to and transport it leftward while holding


Open gripper to place the object back on the surface


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


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


Move downward and forward toward the object while holding nothing


Close gripper to grasp a different part of the object


Pull the object horizontally while transporting it slightly backward, maintaining grip


Open gripper to release the object in its new position


Transport the object toward the structure while reorienting to align for stacking


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


Move forward and slightly upward toward the switch while holding nothing


Open gripper to release the switch lever


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


Move forward toward the object while holding nothing


Pull the object horizontally outward while maintaining contact and holding nothing


Retract backward away from the object while holding nothing


Open gripper to place the object at the front of the object


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


Lower the object downward into the object while maintaining grasp


Open gripper to release the object inside the object


Close gripper to grasp the inside the object


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


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


Transport the object horizontally toward the object while holding it


Lift vertically while holding the object, then transport slightly left and forward


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


Close gripper to grasp the object from the object


Transport the object horizontally toward the cooking area while rotating wrist to tilt it for dispensing


Hold the object steady in tilted orientation to dispense contents


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


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the kitchen object through the object


Lift upward and transport backward while holding the kitchen object


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


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


Pull the zipper pull upward along the track while maintaining contact but not holding it rigidly


Continue pulling the zipper pull upward along the track with sustained contact


Retract upward and backward away from the zipper while holding nothing


Tilt the object downward by rotating the gripper in pitch while maintaining grasp


Hold the tilted posture steady to allow contents to pour out


Rotate the gripper back to orientation while moving slightly right and downward


Close gripper to grasp the object inside the object


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


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


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


Move toward another object in the cluster and adjust gripper angle while holding nothing


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


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


Open gripper to place the object on the right side


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


Close gripper to grasp the radish-like object


Close gripper to grasp the peach-colored object


Lift the peach-colored object upward and transport it to the left while holding it


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the eraser object against the object


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


Push the eraser horizontally across the object surface to erase markings while maintaining contact and holding nothing


Transport the eraser upward and slightly left while holding it, and reorient the gripper to adjust eraser angle


Move away from the object while holding nothing


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


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


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


Move backward and adjust gripper orientation to approach the object on the surface


Close gripper to grasp the object lying on the surface


Maintain grasp and lift the object vertically upward from the surface


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


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


Push the object front panel backward to close it while maintaining contact


Move upward and away from the object to return to neutral position while holding nothing


Close gripper to grasp the object on the object


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


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


Pull the object inward and slightly upward while maintaining grasp


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


Open gripper to place the object onto the object


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


Move forward and downward to approach the object while holding nothing


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


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


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


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


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


Push the object inward with continuous contact to close it


Apply pressure to the target in the forward direction while holding nothing


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


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


Retract gripper upward and move slightly rightward while holding nothing


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


Open gripper to release the object onto the object


Move downward and reorient gripper angle while holding nothing to prepare for folding


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


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


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


Close gripper to grasp another object from the object


Close gripper to grasp the final object from the object


Open gripper to place the object on top of the pile on the right


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


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


Open gripper to release the object into the object


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


Close gripper to grasp the remaining object segment


Lift the object and transport it toward the object while holding


Close gripper to grasp a loose end of the object


Lift the object and move it toward the object while holding


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


Close gripper to grasp the coiled object near the base


Transport the object horizontally to the right while rotating wrist to begin untangling


Pull the object gently along its length while maintaining contact, without grasping


Reorient the object by tilting the gripper to straighten a kink while holding


Transport the object slightly forward while rotating wrist to further untwist the coil


Pull the object linearly while reorienting to align it horizontally and reduce remaining tangles


Move downward and forward toward the tool while holding nothing


Transport the tool horizontally toward the object while rotating wrist to align tip downward


Lift the object upward and transport it toward the center of the pile while maintaining grasp


Open gripper to place the object onto the pile


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


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


Move downward and forward toward the object while holding nothing


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


Push the object inward horizontally while maintaining contact and holding nothing


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


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


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


Transport the object backward while tilting it to turn it around


Close gripper to grasp the object of the object


Lift the object upward while rotating the wrist to open it


Move forward and downward to approach the object while holding nothing


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


Transport the disc to the right while holding it


Apply vertical pressure on the central button of the object while maintaining contact and holding nothing


Lower the object downward toward the object surface while holding it


Pull the object horizontally backward while maintaining contact without enclosing it


Transport the object horizontally to the right while holding it, and slightly reorient to stabilize its pose


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


Lower the object gently and release it beside the first one, ensuring parallel alignment


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


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


Close gripper to grasp the object from the object seat


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


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


Lower the object vertically downward while holding it to position above the object


Close gripper to grasp the object at the edge


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


Lift the object vertically upward while maintaining grip


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


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


Maintain grasp and lift the object vertically upward


Move forward and downward toward the object while holding nothing


Close gripper to grasp the object inside the object


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


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


Rotate the object to tilt its object downward and lower it toward the destination while holding


Pull the object backward to open the object while maintaining contact


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


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


Transport the object away from the object while reorienting it back to a neutral posture


Lower the object downward toward the object while maintaining grasp


Move upward and forward toward the window blind object while holding nothing


Open gripper to release the blind object


Lift the object upward while transporting it slightly to the left and rotating the wrist to begin unfolding


Open gripper to release the object onto the object surface in an unfolded position


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


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


Move to the next object location while holding nothing


Move to the final object location while holding nothing


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


Open gripper to release the object back into the original object


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


Close gripper to grasp the object at the lamp base


Hold posture steady with object held, no motion for a brief duration


Move laterally to the right while holding nothing


Move backward and slightly upward while holding nothing


Rotate wrist object-clockwise while holding the object


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


Open gripper to release the object onto the object surface


Open gripper to release and place the object onto the object


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


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


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


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


Close gripper to grasp one edge of the object


Pull the grasped edge upward and slightly backward to unfold the object while maintaining contact


Open gripper to release the object into the object


Move downward and forward toward the object while holding nothing


Apply downward pressure on the middle button of the held object without releasing grip


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


Close gripper to grasp another book from the stack


Open gripper immediately to release the book back onto the stack


Move slightly backward and adjust position while holding nothing


Close gripper to grasp the top book from the stack again


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


Maintain grasp and lift the object vertically upward


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


Lower the object downward while maintaining grasp


Close gripper again to re-grasp the object


Close gripper to grasp the object inside the top compartment


Close gripper again to grasp the same object inside the top compartment


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


Push the glass object horizontally inward with the gripper while holding nothing


Close gripper to grasp the object inside the object


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


Open gripper to place the object into the object


Retract arm backward and downward toward the object while holding nothing


Transport horizontally toward the object front and reorient wrist to align for object closure


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


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


Close gripper to grasp the object on the right side


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


Open gripper to release and place the object onto the object


Transport the object backward while rotating wrist to tilt it downward


Lower the object downward toward the object while maintaining grasp


Lift the object vertically while transporting it downward and backward


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


Open gripper to release the object onto the surface


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


Close gripper to grasp the object-like object


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


Move upward and slightly left while holding nothing to reposition toward the object


Move downward and forward while holding nothing to approach the object


Push the left object of the top object inward with continuous contact while holding nothing


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


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


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


Close gripper to grasp the object from the object bottom


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


Rotate wrist anticlockwise by ninety degrees while holding the object


Transport the object slightly upward and rotate wrist clockwise while holding it


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


Open gripper to place the combined object inside another object


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


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


Open gripper to release the object outside the object


Move downward and forward back toward the object while holding nothing


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


Apply downward pressure on a key of the keyboard while holding nothing


Slide the object across the surface horizontally while maintaining contact and pressure


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


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


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


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


Move forward and slightly upward toward the wall while holding nothing


Push the object outward to open the object while holding nothing


Close gripper again to secure the object after reorientation


Lower the object downward toward the object surface while holding it


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


Close gripper to grasp the clear storage object


Lift the clear storage object vertically upward while holding it


Transport the clear storage object to the right while holding it


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


Lower the object onto the object and open gripper to place it as a cover


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


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


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


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


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


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


Lift the sleeve upward and transport it leftward while holding it


Open gripper to release the sleeve onto the surface


Lift the sleeve upward, transport it rightward, and reorient it to align for folding while holding it


Transport the object slightly to the left while maintaining grasp


Move downward and forward to approach the object while holding nothing


Reorient the object by tilting the gripper while continuing to transport it in a controlled loop to form a coil


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


Reorient the object by tilting it downward to initiate pouring while holding it


Open gripper to release the object back onto the surface


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


Move the end-effector backward and slightly upward while adjusting wrist orientation to disengage from the object


Move toward the object and adjust gripper orientation while holding nothing


Move closer to the bottom knob of the object while holding nothing


Move downward and forward toward the target area while holding nothing


Move forward and slightly downward toward the coffeemaker while holding nothing


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


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


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


Adjust position slightly left and rotate wrist to align gripper with the button while holding nothing


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


Move downward and forward toward the object while holding nothing


Lift the object vertically upward while holding it


Transport the object horizontally to the right while holding it


Lower the object downward and open gripper to place it


Move forward and upward toward the upper object on the left while holding nothing


Close gripper to grasp the object on the object


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


Push the cupboard object inward with the gripper while holding nothing


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


Move forward and downward toward the object while holding nothing


Apply downward pressure on the top right area of the object while maintaining contact and holding nothing


Pull the object horizontally inward while maintaining contact without enclosing it


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


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


Move forward and slightly rotate wrist freely to reposition for next grasp


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


Move forward and downward toward the object drain while holding nothing


Close gripper to grasp the object at the drain


Open gripper to release the object while positioned above the object


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


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


Move backward and upward to reposition toward the kettle while holding nothing


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


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


Close gripper to grasp one object from the clear object


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


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


Close gripper to grasp one of the object


Move downward and forward to approach the object while holding nothing


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


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


Lift the object slightly while transporting it upward and backward to create tension for unfolding


Pull the grasped edge horizontally to unfold the object while maintaining contact without enclosure


Reorient the gripper to adjust grip angle while transporting the object slightly to continue unfolding


Open gripper to release the object onto the surface after partial unfolding


Pull the flap upward and backward to open the object while maintaining contact without enclosure


Move the end-effector slightly upward and to the side while rotating the wrist to fully expose the object interior


Hold position steadily with gripper open above the object


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


Move horizontally to the right to position over the sixth switch while holding nothing


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


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


Transport the object backward while rotating wrist slightly to adjust orientation


Transport the object to the side while rotating wrist to tilt the object for placement


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


Hold position steadily with gripper in contact with the open object while holding nothing


Push the object closed with continuous contact, applying horizontal force while holding nothing


Move upward and backward to position the end-effector above the kitchen hood while holding nothing


Apply downward pressure with the gripper tip onto the far left button of the kitchen hood while holding nothing


Retract upward and backward away from the kitchen hood while holding nothing


Move forward and downward toward the striped object while holding nothing


Close gripper to grasp the striped object


Close gripper to grasp the second striped object


Lift the third striped object upward and transport it toward the right armrest while holding it


Move slightly left and backward while holding nothing


Move backward and upward to approach the next target while holding nothing


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


Open gripper to place the second object onto the first object


Lower the object downward toward the object opening


Open gripper to release the object into the object


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


Pull the curtain to the right while maintaining contact and applying horizontal force


Hold posture steady without motion while holding the object


Transport the object toward the target while rotating the gripper to tilt the object downward


Transport the object toward the surface while rotating wrist to align it for contact


Apply horizontal force against the surface while maintaining contact to erase markings


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


Close gripper to grasp the cylinder on the left


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


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


Move forward and slightly downward toward the spout while holding nothing


Close gripper to grasp the top object from the stack


Lift the grasped object vertically upward


Pull the object horizontally to close the object while maintaining contact without grasping


Apply pressure directly forward with the end-effector to press the target while holding nothing


Remain stationary with the end-effector in contact with the target while holding nothing


Move back toward the remaining object while holding nothing


Push the object upward to open it while holding nothing


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


Move forward toward the object while holding nothing


Rotate the gripper around its axis while transporting the object further backward and slightly left


Push the contents on the object into the object using the object edge while maintaining contact but not holding the contents


Reorient the object to tilt it upward while holding it, preparing to transfer contents


Close gripper to grasp the object inside the crate


Remain stationary with gripper in contact with the laptop object, maintaining closure


Alternate pushing and pulling the object along the surface to continue unfolding it while maintaining contact and holding nothing


Move inward toward the interior of the object while holding nothing


Maintain grasp and rotate the object to invert its orientation


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


Open gripper to place the object on the surface beside the object


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


Adjust position laterally to align with the object in the object while holding nothing


Move downward and forward toward the object while holding nothing


Remain stationary with gripper in contact with the object lever


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


Move forward and downward to approach the object while holding nothing


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


Lift the object upward and transport it backward while holding it


Open gripper to place the object back on the object


Close gripper to grasp object inside the object


Transport the object horizontally to the object and lower it onto the surface while holding it


Close gripper to grasp a second object inside the object


Move downward and forward to approach the object while holding nothing


Lift the object vertically upward while holding it


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


Lower the object downward toward the object while holding it


Open gripper to place the object on top of the object


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


Open gripper to place the object on top of the stack


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


Continue pulling the object outward while slightly reorienting the gripper angle to fully open the object


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


Pull the object horizontally toward the robot while maintaining contact


Retract backward and slightly upward while holding nothing


Move back toward the object while holding nothing


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


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


Open gripper to release the rubber band into the object


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


Move downward and forward to approach the object while holding nothing


Close gripper to grasp the object on the left


Lift the object vertically and transport it backward while holding it


Transport the cylinder toward the left while rotating the gripper to align it for insertion


Open gripper to release the cylinder inside the object


Open gripper to place the object down gently


Transport the object horizontally toward the object while holding it


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


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


Lift the object vertically upward while holding it


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


Open gripper to place the object on the object


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


Lift the plush object vertically upward while holding it


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


Lift the - plush object vertically upward while holding it


Remain stationary with gripper in contact with the key, maintaining pressure


Pull the object backward to close the object while maintaining contact without enclosing it


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


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


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


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


Lower the object downward while maintaining grasp


Lower the object onto the object opening and release it to close


Close gripper to grasp a object from the surface


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


Open gripper to place the object onto the surface in alignment with others


Close gripper to grasp another object from the surface


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


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


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


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


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


Remain stationary with gripper open and no contact for a brief pause


Lift the second object vertically while transporting it slightly to the right


Open gripper to place the second object onto the first one


Move forward and slightly upward toward the object while holding nothing


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


Rotate wrist and reorient the object while holding it to align for placement


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


Transport the object further to the left while holding it


Apply pressure forward with gripper to press the target while holding nothing


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


Open gripper to place the object on the object


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


Lift the clear jug vertically upward while holding it


Transport the clear jug to the left while reorienting it to tilt the opening downward


Open gripper to release and place the clear jug back on the surface


Close gripper to grasp the object on the floor


Transport forward while rotating wrist to adjust object orientation


Move horizontally to approach the next object while holding nothing


Move back slightly while holding nothing


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


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


Move toward the drying object while holding nothing


Close gripper to grasp the left object on the object


Lift the object vertically while rotating it to align for folding


Transport the object slightly left while reorienting it to prepare for folding motion


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


Lift the object vertically while maintaining its orientation


Move downward and forward toward the pencil while holding nothing


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


Push the object front inward with gripper contact while holding nothing


Lift the clear case vertically upward while holding it


Transport the clear case to the left while slightly reorienting it to maintain stability


Open gripper to place the clear case down on the surface


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


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


Close gripper to grasp the object inside the object


Move upward and backward while holding nothing to approach the object


Remain stationary while holding the object


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


Lower the object downward and release it onto the surface


Move downward and forward toward the object while holding nothing


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


Retract arm upward and reposition toward the object while holding nothing


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


Open gripper to release and place the object aside


Close gripper to grasp the edge of the object


Lift the object upward while rotating it to open the flap


Open gripper to release the object in the opened position


Close gripper to grasp the object vertically from above


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


Lower the object vertically downward while holding it, positioning it above the object opening


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


Press the power button on the air fryer control panel while maintaining contact and applying pressure


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


Close gripper to grasp the fallen object on the chessboard


Transport the object toward the back-right side of the object while rotating the wrist to align orientation


Lower the object downward toward the target while holding it


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


Move forward and downward toward the object draped over the object while holding nothing


Close gripper to grasp the object while it is still on the object


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


Transport the object horizontally to the right while rotating the wrist to adjust its orientation for dropping


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


Close gripper to grasp the star-shaped object


Transport the object to the left while reorienting to position


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


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


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


Open gripper to release the object onto another object


Lift the object upward while transporting it slightly to the left


Lower the object downward while tilting it to align for insertion


Open gripper to release the object inside the previously placed one


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


Close gripper to grasp one end of the string


Lift the grasped end upward and transport slightly backward while holding the string


Open gripper to release the string after extending part of it


Close gripper to grasp the looped portion of the string


Lift the looped portion upward, transport it sideways, and pull to further straighten the string


Open gripper to release the string after achieving a more extended configuration


Transport the object to the right while slightly reorienting the grip


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


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


Transport the object to the right while reorienting to tilt it outward


Close gripper to grasp a fourth object inside the object


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


Transport the object forward while rotating wrist to align it under the object


Move forward and upward to approach the object while holding nothing


Remain stationary with gripper open near the object


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


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


Move forward and downward toward the target object while holding nothing


Open gripper to place the object on top of the previously placed one


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


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


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


Lift the beige object vertically upward while holding it


Open gripper to place the beige object onto the object


Lift the object vertically upward while holding it


Open gripper to place the object onto the object


Open gripper to release and place the object at the destination


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


Rotate wrist clockwise while holding the lock


Apply backward force along the object front while maintaining contact with the object


Hold position with gripper closed on the object while the object remains open


Apply pressure forward with the gripper tip against a surface while holding nothing to trigger a button


Close gripper to grasp a piece of crumpled


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


Move back toward the object area while holding nothing


Close gripper to grasp another piece of crumpled


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


Move downward and forward toward the object while holding nothing


Transport the object sideways while rotating wrist to keep it level


Rotate wrist clockwise while holding the object to reorient it for extraction


Transport the object to the right while tilting it upward to clear the object edge


Lift the object further upward to fully clear the object basin while holding it


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


Reorient the object by tilting the gripper downward to align with the object slots


Move backward and slightly downward to return to neutral position while holding nothing


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


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


Pull the object inward and transport it leftward while holding it


Open gripper to release the object at the closed position


Remain stationary with gripper open near the object


Close gripper to grasp the object from its side


Pull the object backward along the surface while maintaining contact but not enclosure


Open gripper to release the object after moving it backward


Retract away from the object while holding nothing


Move forward and downward toward the object while holding nothing


Reorient the object by tilting the gripper to unfold it slightly while holding


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


Open gripper to release and place the object onto the shower seat


Move forward and slightly downward to approach the top lock while holding nothing


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


Retract backward slightly while holding nothing


Pull the object open horizontally while maintaining contact with the object and holding nothing


Move upward and backward away from the object while holding nothing


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


Transport the knife horizontally toward the ball while reorienting the gripper to align the tip downward


Apply downward pressure with the knife tip onto the ball while maintaining contact without lifting or sliding


Close gripper to grasp object from the object


Close gripper to grasp another object from the object


Move back toward the object while holding nothing


Apply pressure along the vertical direction to press the target while holding nothing


Remain motionless with gripper open and no contact


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


Continue transporting the object to the right while holding it


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


Close gripper to grasp the X-shaped object


Rotate wrist to align gripper with the object while holding nothing


Move downward to approach the object while holding nothing


Lift the object vertically upward while holding it


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


Move inward toward the interior of the object while holding nothing


Pull the object outward from the object while holding it


Transport the object horizontally away from the object while holding it


Approach the object front and push it horizontally to close it


Pull the top left object outward with continuous contact while holding nothing


Rotate wrist back to orientation while transporting slightly right and upward


Hold position briefly after flipping the switch, maintaining contact without further motion


Transport the object slightly to the right while rotating wrist to begin unfolding


Move slightly left and downward to reposition for next contact while holding nothing


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


Pull the grasped edge horizontally to unfold the object slightly while maintaining contact


Open gripper to release the edge and let the object settle


Move to the opposite side of the object while holding nothing


Close gripper to grasp the other edge of the object


Pull the grasped edge horizontally in the opposite direction to further unfold the object slightly


Open gripper to release the edge and allow the object to rest


Retract upward and backward slightly while holding nothing


Lift the object slightly upward while holding it to adjust tension


Lower the object gently onto the object and apply light downward pressure to flatten it


Open gripper to release the object completely


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


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


Open gripper to release the object onto the target location


Move forward and upward toward the object while holding nothing


Lift the object vertically and transport it backward while holding it


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


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


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


Lower the object onto the surface of the object while holding it


Transport the object to the left while holding it


Rotate the object in mid-air by tilting the gripper to reorient its alignment


Retract end-effector upward and slightly left to reposition while holding nothing


Close gripper to grasp another section of the object


Open gripper to release and lay the object on the surface


Move forward into the narrow space while holding nothing


Move forward toward the target location while holding nothing


Move forward and downward to approach the object while holding nothing


Rotate wrist slightly while moving closer to the object to align the brush for cleaning


Push the brush against the object surface in a back-and-forth motion while maintaining contact


Pull the object outward with continuous contact while holding nothing


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


Hold posture steady without movement while maintaining grasp


Remain stationary with gripper in contact with the object, applying sustained downward force


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


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


Open gripper to release the object corner onto the object surface


Lift the newly grasped corner vertically upward while holding the object


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


Rotate the object back to while transporting slightly right and forward


Apply downward pressure on the right switch with the gripper tip while holding nothing


Open gripper to place the object into the object basin


Lift the object upward and transport it forward while holding it


Open gripper to release the object onto the surface


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


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


Move forward and upward toward the object while holding nothing


Close gripper to grasp the eraser object


Transport the object toward the object while reorienting it to face the surface


Press the object against the object surface to erase writing


Transport the object away from the object while holding it


Move backward and downward away from the object while holding nothing


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


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


Lift the cube vertically upward while holding it


Open gripper to release and place the cube into the object


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


Open gripper to release and place the object into the object


Push the object closed horizontally using the gripper in contact with the object, without grasping


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


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


Transport the object to the left while maintaining grasp and slightly tilting the wrist to stabilize


Lower the object downward while maintaining grasp


Open gripper to place the object on the surface


Remain motionless with gripper open and no object held


Move downward and forward toward the chessboard while holding nothing


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


Move downward and forward toward the clothing while holding nothing


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


Move leftward and slightly downward to approach the clothing again while holding nothing


Close gripper to grasp the clothing again


Transport the clothing to the left while holding it


Close gripper to grasp the clothing once more


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


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


Rotate wrist object-clockwise while holding the object to turn it left


Move backward and slightly right to reposition toward the back object while holding nothing


Open gripper to release the back object after turning


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


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


Transport the object slightly forward and lower it downward while holding


Lower the object downward into the basin while holding it


Open gripper to release the object into the basin


Open gripper to release the object onto the structure


Rotate the gripper wrist while transporting the object slightly to the right, maintaining hold


Move laterally to position above the target object while holding nothing


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


Transport the object toward the destination while rotating the gripper to orient the object appropriately


Close gripper again to re-grasp the object


Apply downward pressure on the top button while holding the object


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


Close gripper to grasp the top object while maintaining contact with the underlying object


Lift vertically upward while holding the object to separate it from the object below


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


Adjust position slightly left and reorient gripper to face the right switch of the object while holding nothing


Extend end-effector forward to make contact and push down the right switch while holding nothing


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


Close gripper to grasp a corner of the garment


Lift the grasped corner upward and transport slightly left while holding the object


Close gripper to grasp another part of the garment


Close gripper to grasp a different corner of the garment


Open gripper to release the edge onto the surface


Open gripper to release the utensil onto the object


Move end-effector back toward the object while holding nothing


Retract backward away from the switch while holding nothing


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


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


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


Move upward and backward to approach the object while holding nothing


Transport the object to the left while holding it


Apply light pressure to the right side of the target while holding nothing


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


Move the object against the object and apply light pressure to wipe


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


Move downward and forward toward the object while holding nothing


Open gripper to release the object onto the target structure


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


Remain stationary in contact with the switch while holding nothing


Push the object horizontally inward while maintaining contact and holding nothing


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


Lift the object upward while rotating it to fold it in half


Move forward and upward toward the open laptop while holding nothing


Push the laptop object downward with the gripper in contact, applying gentle force to begin closing it


Press down on the laptop object near the hinge to fully close it, maintaining contact without sliding


Reorient the object by tilting it while maintaining grasp


Move toward the object while holding nothing


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


Move forward and downward to approach the tape while holding nothing


Move downward and forward into the object while holding nothing


Move forward and upward toward the cupboard while holding nothing


Lift upward and transport backward while holding the object


Rotate wrist freely to align gripper orientation while holding nothing


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


Lift vertically upward while transporting backward to detach the object from its support


Transport the object horizontally to the right while holding it


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


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


Lower the object downward toward the target location while maintaining grasp


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


Close gripper to grasp the second object from the object surface


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


Lower the object into the first object while slightly tilting it to align for insertion


Lift the second object vertically out and transport it slightly left while holding it


Lower the second object onto the object surface while maintaining grasp


Open gripper to place the object on the object


Move backward and slightly downward to reposition toward the remaining object on the backrest while holding nothing


Close gripper to grasp the second object on the backrest


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


Close gripper to grasp the third object on the backrest


Remain stationary with gripper open near the object


Hold position steady with gripper open, preparing for grasp


Close gripper to securely grasp the object


Hold the object steady in place without movement


Close gripper to grasp the longest object from the holder


Move upward and forward while holding nothing to approach the chandelier


Hold posture steady with object held after turning the switch


Open gripper to release the component while holding it


Retract downward and backward while holding nothing away from the chandelier


Move forward and downward to approach the rod while holding nothing


Rotate wrist forward while holding the rod


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


Lift the object upward while rotating it to form a triangular shape


Transport the object slightly to the right while further adjusting its orientation to refine the triangle fold


Lift the object upward while rotating it to perform the second triangular fold


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


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object inside the object


Transport the object slightly to the right while holding it


Transport the fork horizontally toward the object while rotating the wrist to align the fork with the object opening


Reorient the fork slightly while holding it, then hold steady for a moment


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


Hold position steadily with object placed


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


Lower the object downward while holding it to insert into the object


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


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


Open gripper to place the object on the new position


Move forward and upward toward the overhead object while holding nothing


Pull the object downward and backward to open the object while maintaining contact


Transport the object horizontally across the object surface while holding it


Lower the object onto the object surface while maintaining grip


Move downward and forward toward the utensil holder while holding nothing


Close gripper to grasp an object from the holder


Lift the object vertically and transport it backward while holding it


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


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


Transport the frame horizontally to the right while holding it


Open gripper to place the frame on the object surface


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


Transport the object forward and slightly right while reorienting it to lay


Open gripper to place the portion onto the main object


Lift the grasped portion upward, transport it to the left, and reorient it to align with the rest of the object


Close gripper to grasp a edge of the object


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


Transport the object to the right while reorienting it to lay


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


Close gripper to grasp the object inside the object


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


Lower the object downward while maintaining grasp, positioning it above the disposal opening


Open gripper to release the object into the disposal area


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


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


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


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


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


Open gripper to place the object into the object


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


Open gripper to release the object onto the surface to the left of the object


Close gripper to grasp the second object on the object


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


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


Move forward and downward toward the clear object while holding nothing


Press down on the extension object with the gripper while holding nothing


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


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


Open gripper to release and place the object inside the object


Retract gripper upward and move toward the object while holding nothing


Retract gripper and move toward the object while holding nothing


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


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


Move forward and upward toward the object while holding nothing


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


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


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


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


Close gripper to grasp the filter object


Lift the filter object vertically upward while holding it


Transport the filter object to the left and slightly rotate wrist to align it over the object while holding it


Open gripper to place the filter object into the object


Hold the filter object steady without motion


Move forward and downward into the object while holding nothing


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


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


Transport the object upward and backward while rotating the gripper to reorient the object


Move forward and downward to approach the object while holding nothing


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


Move forward toward the slice of bread while holding nothing


Close gripper to grasp the slice of bread


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


Push the mini object closed with the end-effector while maintaining contact


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


Remain stationary with gripper in contact with the object, maintaining pressure to keep it closed


Close gripper to grasp a piece of object from the pile


Maintain grasp and lift the object vertically upward


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


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


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


Transport the object to the right while holding it and slightly reorient to stabilize its pose


Move upward and slightly left to return toward the original position while holding nothing


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


Move downward and forward toward the object while holding nothing


Transport the object slightly forward and rotate wrist to align it with the target surface


Apply downward pressure on the object to press a button while holding it


Move toward the object while holding nothing


Move toward the chocolate bar while holding nothing


Close gripper to grasp the chocolate bar


Open gripper to place the can on the object


Move toward the can while holding nothing


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


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


Transport the object toward the left armrest while reorienting it to align with the surface


Push the object across the left armrest surface while maintaining contact


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


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


Open gripper to place the holder at the bottom position


Close gripper to grasp the bottom holder


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


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


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


Move forward and rotate wrist freely to align with the object


Push the object outward using the gripper while holding nothing


Pull the object further open by maintaining contact and moving backward


Transport leftward while rotating wrist to tilt the object downward


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


Move forward and downward toward the object while holding nothing


Open gripper to place the object on the surface


Close gripper to grasp a second object from the object


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


Lift the object vertically upward while holding it


Lower the object onto the object and release it to close the object


Move forward and downward toward the tool object while holding nothing


Lower the object downward toward the workbench while holding it


Open gripper to release and place the object on the workbench


Transport the object to the right while rotating the wrist to align it over the object


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


Move forward and downward toward the second doll while holding nothing


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


Move backward and upward away from the object while holding nothing


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


Move downward and slightly forward while adjusting gripper orientation to align with the object on the object


Close gripper to securely grasp the object from the object surface


Reorient the object by tilting the gripper while holding it


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


Rotate wrist object-clockwise while holding the object nozzle


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


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


Transport the object to the left while slightly reorienting to stabilize its pose


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


Move downward and forward toward the scissors while holding nothing


Open gripper to release and place the marker on the object