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


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


Transport the object horizontally toward the stand while holding it


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


Rotate gripper wrist freely to align with the object orientation while holding nothing


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


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


Close gripper to grasp a second letter object from the surface


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


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


Close gripper to grasp an object from the object surface


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


Open gripper to place the object on the object surface


Move laterally to approach another object while holding nothing


Press the first switch from the left on the extension object while holding nothing


Move upward and forward toward the wall switch while holding nothing


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


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


Move forward and downward to approach the object while holding nothing


Close gripper to grasp a third object inside the object


Move toward the object again while holding nothing


Close gripper to grasp a fourth object inside the object


Lift the object vertically while transporting it slightly to the right


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


Lift the can vertically upward while holding it


Transport the can to the right while holding it


Open gripper to place the can on the object surface


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


Rotate the object to align its long edge horizontally while transporting it leftward, maintaining grip


Lift the object and rotate it around the horizontal axis to fold one half over the other while holding it


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


Rotate wrist axially while holding the object to wrap the elastic around it


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


Continue pulling the object front outward horizontally while holding nothing until fully open


Rotate wrist slightly counterclockwise while holding the object


Lift and move away from the object while holding nothing


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


Close gripper to grasp the object from the object surface


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


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


Move forward and downward toward the toilet tank while holding nothing


Hold position steadily with gripper in contact with the object


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


Lift the object vertically and transport it leftward toward the object


Close gripper to grasp the second object


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


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


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


Hold the object steady in a tilted posture without movement


Rotate the gripper to reorient the object while transporting it slightly backward


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


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


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


Close gripper to grasp the edge of the glass object


Transport the object to the right while holding it, and slightly reorient to maintain alignment


Open gripper to release the glass object while maintaining position


Transport the object further to the right while holding it


Move forward and downward to approach the object while holding nothing


Pull the object outward while maintaining contact without grasping


Move forward toward the object while holding nothing


Pull the object horizontally inward while maintaining contact without grasp


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


Close gripper to grasp the first cushion


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


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


Close gripper to grasp the third cushion


Move downward and forward toward the checkered object while holding nothing


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


Open gripper to place the object gently onto the surface


Move downward and forward toward the clothing while holding nothing


Close gripper to grasp the dark clothing


Lift the dark clothing vertically upward while holding it


Transport the dark clothing to the right while rotating the gripper to adjust its orientation


Open gripper to release the dark clothing onto the right side of the couch


Move leftward and downward toward the remaining clothing while holding nothing


Close gripper to grasp the denim clothing


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


Transport the object backward and slightly left while reorienting it to keep it horizontal


Move forward and downward to approach the object while holding nothing


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


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


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


Transport the object horizontally toward the cluster of other object while slightly reorienting the grip to align for stacking


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


Rotate wrist counterclockwise to turn the object nozzle to the left while maintaining contact without grasping


Push the object upward while maintaining contact without grasping


Apply pressure vertically downward on the third switch while holding nothing


Push the dispenser object closed with the gripper while holding nothing


Move forward and downward toward the soap dispenser while holding nothing


Press the soap dispenser vertically downward with the gripper tip while holding nothing


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


Close gripper to grasp the object inside the object


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


Transport the object slightly to the left while rotating the wrist to begin folding


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


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


Lift the object vertically upward while holding it


Tilt the object downward by rotating it around a horizontal axis while holding it


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


Move downward and forward into the object while holding nothing


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


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


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


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


Close gripper to grasp the papers on the object


Lower the papers downward toward the desk surface while holding them


Press the J key on the keyboard with the gripper while holding nothing


Move right and slightly backward while holding nothing to reposition toward the next target


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


Move forward and upward toward the object while holding nothing


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


Close gripper to grasp the air fryer object


Pull the object outward while maintaining contact with the object


Transport the object nozzle to the left while slightly adjusting orientation without releasing grip


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


Transport the napkin horizontally toward the object control while slightly reorienting the grip to align for wiping


Move the end-effector into contact with the object control and hold steady to begin wiping


Apply gentle horizontal force with the napkin against the object control surface to wipe it


Transport the napkin away from the object control while reorienting to adjust grip for continued wiping


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


Transport the object toward the first placed object while reorienting it to align for stacking


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


Reorient the object upward while holding it to bring it to an posture


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


Close gripper to grasp the rightmost object


Transport the object to the left while rotating wrist to maintain stable orientation


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


Close gripper to grasp the middle object


Transport the object to the left while adjusting orientation to align with the target position


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


Close gripper to grasp the leftmost object


Transport the object to the left while rotating wrist to keep it stable during motion


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


Close gripper to grasp the light object on the chessboard


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


Open gripper to place the object backward on the object surface


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


Transport the teal object to the right while holding it


Transport the object to the left while holding it


Open gripper to place the object onto the object


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


Apply pressure to the left side of the target while holding nothing


Close gripper to grasp the object lying in the object


Move downward and forward toward the object while holding nothing


Pull the object backward while maintaining grasp and transporting it away from the object


Open gripper to place the object securely in the target location


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


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


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


Push the object horizontally inward while maintaining contact and holding nothing


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


Move toward the object roll while holding nothing


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


Transport the object roll slightly downward and to the right while holding it, positioning it onto the stand


Open gripper to release and place the object roll onto the stand


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


Open gripper to place the object down while holding it steady


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


Close gripper to grasp one object from the pullout object


Transport the object horizontally toward the desk while holding it


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


Close gripper to grasp the second object from the pullout object


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


Lift vertically upward while transporting forward to move the object away from the object


Lift upward while transporting forward to move the object away from the object


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


Pull the object outward horizontally while maintaining contact and holding nothing


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


Lower the object into the object while maintaining hold


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


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


Open gripper to release the object into the object


Move forward and upward toward the fruit object while holding nothing


Move forward and downward to approach the zipper while holding nothing


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


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


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


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


Close gripper to grasp an object from the object


Move forward and slightly downward toward the object while holding nothing


Pull the object outward while holding the object


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


Move upward and forward toward the top object while holding nothing


Remain stationary with gripper in contact with the open object


Transport the object horizontally backward while holding it


Retract backward and upward to clear the area while holding nothing


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


Move left and downward toward the object while holding nothing


Move downward and forward toward the object while holding nothing


Move back toward the object while holding nothing


Close gripper to grasp a second object inside the object


Lift the second object vertically upward while holding it


Transport the second object to the right while holding it


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


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


Transport the object forward while holding


Apply pressure downward with gripper tip to trigger the button while holding nothing


Apply downward pressure on the button while holding the object


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


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


Open gripper to place the object on the surface


Move forward and downward while holding nothing to approach the item


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the top object in the object


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


Close gripper to grasp the remaining object inside the object


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


Pull the object outward with continuous contact while holding nothing


Lift upward while transporting slightly to the left, maintaining grip on the object


Close gripper to grasp the object lying on its side


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


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


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


Open gripper to place the object onto the object


Move upward and backward to return to the object while holding nothing


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


Pull the right object outward to open it while maintaining contact


Move downward and forward to approach the object while holding nothing


Pull the object outward to open it while maintaining contact


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


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


Close gripper to grasp the top object in the structure


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


Transport the object downward and toward the object while holding it


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


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


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


Move forward and downward to approach the wrapper while holding nothing


Transport the wrapper forward while holding it


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


Lift the object vertically upward while holding it


Tilt the object downward by rotating its orientation while holding it


Move forward and downward toward the power strip while holding nothing


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


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


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


Move upward and reposition to approach the other side of the object while holding nothing


Close gripper to grasp the opposite edge of the object


Open gripper to place the object down, completing the fold


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


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


Apply backward horizontal force while maintaining contact to slide the structure slightly backward


Open gripper to release the structure while remaining in contact


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


Close gripper to grasp the remaining part of the object still attached to the


Pull the object laterally while rotating the wrist to untangle or disengage it from the


Move downward and forward toward the stovetop while holding nothing


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


Remain stationary with gripper open above the object


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


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


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


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


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


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


Move forward and upward toward the air conditioner control panel while holding nothing


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


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


Lift vertically while simultaneously transporting to the right with object held


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


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


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


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


Move toward the vertical surface and apply gentle pressure while holding the object to wipe


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


Close gripper to grasp the right cover edge of the book


Open gripper to release the book while maintaining position, completing closure


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


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


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


Hold the object steady in the rotated position


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


Push the object across the object surface in a sweeping motion while maintaining contact but not holding it


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


Open gripper to release and place the object inside the object


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


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


Open gripper to release the rod while maintaining position


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


Press the lamp switch downward with the gripper while holding nothing


Move downward into the opened object while holding nothing


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


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


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


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


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


Transport the object to the left while holding it


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


Pull the object outward along its hinge axis while maintaining contact and holding nothing


Open gripper to place the object on the left side


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


Close gripper to grasp a third object during transport


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


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


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


Apply downward force on the leftmost switch with the gripper tip while holding nothing


Rotate wrist clockwise while holding the object to unscrew


Move away from the placed object while holding nothing


Maintain grasp and tilt the object downward by rotating the wrist in pitch


Transport the object forward while slightly reorienting to stabilize grip


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


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


Rotate the wrist axially and reorient the object by tilting it while maintaining grip


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


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


Move forward and slightly downward toward the coffee machine while holding nothing


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


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


Open gripper to place the first object inside the object


Lower the object downward toward the object while holding it


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


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


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


Close gripper to grasp the object inside the object


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


Push the object front inward with continuous contact while holding nothing


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


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


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


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


Move forward and downward toward the open object while holding nothing


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


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


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


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


Move upward and to the right to approach the object on the windowsill while holding nothing


Transport the object to the left while holding it


Lower the object downward while holding it


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


Open gripper to release the object onto the object surface


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


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


Open gripper to release the switch and disengage contact


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


Lift the utensil vertically upward while holding it


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


Lower the utensil downward toward the object while holding it


Open gripper to release and place the utensil onto the object


Push the object horizontally to slide it closed while maintaining contact and holding nothing


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


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


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


Lift the object vertically upward while rotating it to flip its orientation


Press the switch downward with the gripper tips while holding nothing


Lift gripper vertically upward after releasing the object


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


Retract upward and backward away from the object while holding nothing


Move forward and downward to approach the tape while holding nothing


Maintain grasp and lift the tape vertically upward


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


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


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


Press down the lever on the right side while holding nothing


Retract backward and upward away from the lever while holding nothing


Pull the object outward to open the object while maintaining contact and holding nothing


Move downward into the object and adjust gripper orientation while holding nothing


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


Open gripper to release the object onto the surface while holding it until detachment


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


Move forward and downward to approach the right clear case while holding nothing


Lower the object downward and open gripper to place it into the right compartment of the left clear case


Close gripper to grasp another object from the bottom compartment of the right clear case


Move to the object front and push the object inward to close it while holding nothing


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


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


Close gripper to grasp the object while it is inside the object


Move downward and forward toward the object while holding nothing


Open gripper to place the object onto another object


Maintain grasp, lift vertically, and transport slightly to the left


Open gripper to place the object onto the structure


Open gripper to place the object onto the top of the stack


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


Move slightly backward and reposition above the object while holding nothing


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


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


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


Open gripper to release the object onto the position


Move forward and downward to approach the object while holding nothing


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


Push the object across the surface of the object to wipe it while maintaining contact and holding nothing


Open gripper to place the object on the object surface


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


Transport the object slightly forward while continuing to adjust its orientation to position


Open gripper to place the object in orientation


Move downward and forward to approach the bubble wrap while holding nothing


Lift the bubble wrap vertically upward while transporting it slightly backward, maintaining grasp


Open gripper to release the bubble wrap onto the surface


Push the bubble wrap horizontally to the right while maintaining contact and holding nothing


Transport the object forward while rotating wrist to align it over the target


Move downward and forward toward the open object while holding nothing


Lower the object onto the top of the stack and open gripper to release it


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


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


Reorient the object to align it vertically and move it downward into the object while holding it


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


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


Lower the object downward while maintaining inverted orientation


Rotate the object by tilting the gripper to flip it over while holding it


Close gripper to grasp the object from inside the object


Move forward and downward toward the object roll while holding nothing


Securely grasp the torn edge and transport slightly backward while holding the detached sheet


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


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


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


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


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


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


Open gripper to place the object on top of the object


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


Close gripper to grasp the second object


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


Transport to the right while reorienting the object by tilting it forward


Move downward and forward to approach the object while holding nothing


Transport the object horizontally to the right while holding it


Rotate the object by tilting it forward to spill contents while holding it


Hold the tilted posture steadily to allow spillage


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


Open gripper to release the object onto the object


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


Apply pressure to the button on the object with the gripper while holding nothing


Retract backward and upward away from the object while holding nothing


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


Close gripper to grasp a central portion of the object


Pull the object further to the right while subtly reorienting it to flatten its orientation


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


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


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


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


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


Hold position momentarily after opening the object, with gripper still in contact but not actively moving


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


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


Move forward and downward toward the object while holding nothing


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


Move forward and upward toward the second object of the object on the right while holding nothing


Adjust position laterally to align with the fifth object from the left on the object while holding nothing


Lower the object downward toward the object surface while holding it


Move forward and downward to approach the object while holding nothing


Lift the object upward and transport it forward to the front of the object while holding it


Open gripper to place the object on the object surface


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


Transport the clear object horizontally to the right while holding it


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


Move downward and forward to approach the knob while holding nothing


Retract upward and backward away from the knob while holding nothing


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


Transport the object horizontally away from the object while holding it


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


Transport the object toward the target while lowering it downward


Close gripper again to secure the mesh object


Close gripper to reinforce grip on the mesh object


Rotate the wrist to tilt the object downward and hold steady to pour


Open gripper to release the object onto the object


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


Close gripper to grasp a fork from the object


Close gripper to grasp a object from the object


Push the object of the object upward using the gripper while holding nothing


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


Close gripper to grasp the central object


Open gripper to place the object onto the object


Transport the marker slightly left and rotate wrist to orient tip downward while holding it


Lower the marker tip onto the and apply light pressure to begin drawing


Open gripper to place the marker back on the surface


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


Move forward and upward toward the object front while holding nothing


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


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


Open gripper to release the object into the destination while holding it


Move horizontally toward the object while holding nothing


Maintain grasp and lift the second object vertically upward


Rotate the object by tilting the gripper to invert its orientation while holding it


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


Push the object to the left with continuous contact while holding nothing


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


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


Open gripper to release the object while in contact with the surface


Open gripper to release and place the object into the object


Remain stationary with gripper closed near the object


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


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


Apply vertical pressure downward with the gripper tip onto the top surface of the machine while holding nothing


Close gripper to grasp the object wrapped in object


Lift the object vertically while rotating wrist to adjust its orientation


Transport the object to the left while continuing to reorient it for placement


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


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


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


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


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


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


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


Hold the tilted object steady to allow contents to pour out


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


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


Close gripper to grasp one object from the cluster


Move forward and downward to approach the object while holding nothing


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


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


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


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


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


Move forward and slightly downward toward the object while holding nothing


Pull backward horizontally while maintaining contact with the object


Open gripper to release and place the object onto the object


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


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


Open gripper to place the object on the surface


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


Close gripper to grasp the object from the surface


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


Lift the end-effector vertically upward after releasing the object


Move backward and slightly downward to retreat from the structure while holding nothing


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


Close gripper to grasp the ribbon inside the clear case


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


Open gripper to place the ribbon into the bottom compartment of the clear case


Close gripper to grasp the longest object on the object


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


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


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


Move downward and forward to approach the object while holding nothing


Move forward and downward to approach the object while holding nothing


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


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


Press the object against the object with continuous contact while holding nothing


Open gripper to release the object onto the object surface


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


Move downward and forward to approach the t-shirt while holding nothing


Move forward and slightly downward toward the object while holding nothing


Close gripper to grasp the object inside the wire object


Close gripper again to grasp the same object after brief release


Close gripper to grasp another object inside the object


Move downward and forward toward the object while holding nothing


Lower the object downward toward the couch surface while holding it


Open gripper to release and place the object on the couch


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


Close gripper to securely grasp the object from within the object


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


Reorient the object by tilting it downward while holding it


Lift the object upward, transport it slightly right, and reorient it by rotating the wrist to fold it


Lift the object vertically while transporting it toward the left


Reorient the object by tilting it sideways while holding it


Close gripper to grasp the object from the object


Pull the object inward while maintaining contact with the object


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


Transport the object horizontally toward the object while holding it


Move toward the second object while holding nothing


Lift the second object vertically upward while holding it


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


Move toward the third object while holding nothing


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


Lift the striped object vertically upward while holding it


Lower the striped object vertically downward toward the rod while maintaining hold


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


Lift the object vertically upward while holding it


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


Hold the tilted posture steadily to allow contents to transfer


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


Open gripper to place the object into the object


Transport the object to the right while holding it


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


Retract end-effector upward and shift right to approach the object while holding nothing


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


Move forward and downward toward the keyboard while holding nothing


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


Transport the object slightly forward while maintaining contact and applying gentle forward force to slide it


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


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


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


Close gripper to grasp the compartment object


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


Open gripper to release the object after opening the compartment


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


Lift vertically while transporting upward and slightly backward with object held


Open gripper to release the object onto the upper rod


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


Pull the object upward to open the object while holding nothing


Transport the object to the left while simultaneously pushing nearby object leftward with contact


Transport the object further left and slightly forward while holding it


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


Move forward and downward to approach the object while holding nothing


Lift the object vertically while rotating it to align with the drain orientation


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


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


Pull the object outward while maintaining contact without grasping


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


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


Move forward and slightly upward toward the rail while holding nothing


Lower the object downward while maintaining grasp to position it on top of another object


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


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


Open gripper to release and place the object into the target


Move downward and forward to approach the switch while holding nothing


Press the middle switch with the gripper tip while holding nothing


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


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


Close gripper to grasp the edge of the object


Move downward and forward toward the napkin while holding nothing


Transport the napkin horizontally across the object surface while slightly reorienting its angle for alignment


Rotate the object back to while moving it slightly right and forward


Rotate the object to align it horizontally while moving it toward the railing with object held


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


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


Open gripper to release and place the object onto the surface


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


While holding the object, rotate the wrist and reorient the object to initiate turning


Lift the object vertically and transport slightly backward while holding it


Move upward and reposition above the object while holding nothing


Pull the object horizontally while reorienting it to unfold one layer


Move laterally to reposition over the object while holding nothing


Move upward and adjust position above the object while holding nothing


Reorient the object by tilting and rotating wrist to flip it over


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


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


Move forward toward the cupboard object and apply horizontal force to push the object open


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


Close gripper to grasp the top layer of object


Lift the grasped object upward and transport it to the left while maintaining hold


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


Close gripper to grasp the remaining object


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


Move downward and forward toward the object while holding nothing


Lower the object downward and release it onto the surface while maintaining contact during placement


Rotate the gripper to tilt the object downward while transporting it leftward toward the target location


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


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


Lift the string vertically upward while holding it


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


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


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


Open gripper to release the string into the object


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


Reorient the object to tilt it inward while transporting slightly to adjust position inside the object


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


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


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


Open gripper to release the object onto the object


Move downward and forward toward the object again while holding nothing


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


Move downward and forward toward the object once more while holding nothing


Close gripper to grasp the object on the object


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


Press the bottom right button of the object with the gripper while holding nothing


Move downward and forward to approach the object while holding nothing


Lift the object upward while rotating wrist to adjust its orientation


Close gripper to grasp the object once more


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


Open gripper to place the object down on the object surface


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


Retract upward and backward away from the object while holding nothing


Pull the object inward horizontally while maintaining contact with the object


Close gripper to grasp the object from the object


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


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


Close gripper to grasp the third object from the object


Lift the third object vertically upward while holding it


Move downward and forward toward the control panel while holding nothing


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


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


Move forward and downward to approach the laptop while holding nothing


Push the laptop object downward with continuous contact while holding nothing


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


Move forward and slightly downward toward the target while holding nothing


Apply pressure straight inward on the target with the gripper tip while holding nothing


Retract backward and upward away from the target while holding nothing


Move forward and upward toward the object while holding nothing


Close gripper to grasp the object wedged in the object


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


Move downward and forward toward the sachet object while holding nothing


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


Open gripper to place the sachet on the top layer of the target structure


Close gripper to grasp another sachet from the object


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


Move upward and forward toward the top right cupboard object while holding nothing


Pull the top right cupboard object further open by gripping its edge and moving backward while holding nothing


Move downward and forward to approach the object while holding nothing


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


Move forward and slightly upward toward the object while holding nothing


Push the object backward while maintaining contact


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


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


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


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


Move slightly right and adjust position while holding nothing


Rotate wrist slightly while maintaining contact, then apply pressure along the object axis to trigger the switch


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


Hold position motionless with gripper open and no contact


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


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


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


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


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


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


Apply backward force to pull the object while maintaining contact without grasping


Apply forward force to push the object closed while maintaining contact without grasping


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


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


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


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


Open gripper to release the object into the object


Lift the second object vertically upward


Transport the second object toward the object while holding it


Open gripper to release the second object into the object


Move laterally to approach a third object while holding nothing


Transport the third object toward the object while holding it


Open gripper to release the third object into the object


Move to approach a fourth object while holding nothing


Lift the fourth object vertically upward


Transport the fourth object toward the object while holding it


Open gripper to release the fourth object into the object


Move to approach a fifth object while holding nothing


Transport the fifth object toward the object while holding it


Open gripper to release the fifth object into the object


Transport the object slightly forward while rotating wrist to adjust orientation


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


Press the third bottom button from the left on the panel while holding nothing


Lower the object downward toward the object opening while holding it


Open gripper to release the object into the object


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


Lower the object downward while maintaining hold


Open gripper to place the object on the surface


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


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


Rotate wrist to return object to orientation and transport slightly right while holding


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


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


Lift vertically while transporting slightly right and forward with object held


Lower the object downward while rotating wrist to align orientation for placement


Close gripper to grasp an object from within the object


Retract arm upward and slightly forward while holding nothing


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


Transport the object horizontally to the right while holding it, then lower it toward the surface


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


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


Move away from the object while holding nothing


Transport the object toward the object while holding it


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


Move forward and slightly right toward the wall while holding nothing


Retract backward and slightly left away from the wall while holding nothing


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


Lift the object vertically while holding it, then transport it slightly to the left


Pull the right side of the object horizontally to the left while maintaining contact without grasping


Hold position steadily with no motion while the object remains partially unfolded


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


Move forward and downward toward the object while holding nothing


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


Lift the object vertically while rotating the wrist clockwise to begin reorienting it


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


Lift the cap vertically upward while holding it


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


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


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


Move forward and slightly downward toward the piano keys while holding nothing


Apply downward pressure on a key near the far right end of the keyboard while holding nothing


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


Apply horizontal forward force with gripper in contact to slide the object forward


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


Close gripper again to secure the object more firmly while holding it


Close gripper once more to ensure firm hold of the object


Re-grasp the object to adjust grip while continuing to hold it


Transport the object away from the object while reorienting it to a horizontal posture


Move toward the object near the blinds while holding nothing


Retract end-effector away from the object while holding nothing


Pull the object horizontally inward to close the object while maintaining contact without enclosure


Close gripper to grasp the second object


Remain stationary with gripper open near the coffee maker


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


Move downward and forward toward the object while holding nothing


Close gripper to grasp the object inside the object


Move back toward the object while holding nothing


Close gripper to grasp another object from inside the object


Close gripper again to secure the object more firmly while still holding it


Transport the object slightly leftward while reorienting it by tilting the gripper


Move forward and downward toward the object while holding nothing


Open gripper to place the object outside the object while holding it steady


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


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


Move forward and slightly downward toward the switch while holding nothing


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


Transport the object backward while rotating wrist to tilt it


Push the object upward along its object while maintaining contact and holding nothing


Move forward and downward to approach the switch on the appliance while holding nothing


Retract upward and backward away from the appliance while holding nothing


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


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


Apply downward pressure on the lever while maintaining contact without enclosing it


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


Press the object against the surface and move it back and forth in a scrubbing motion while holding it


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


Move upward and slightly right to retreat while holding nothing


Move forward toward the object while holding nothing


Rotate wrist slightly while holding nothing to align for next operation


Move downward and forward to approach the object while holding nothing


Push the object downward with continuous contact while holding nothing


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


Close gripper again to secure another part of the object


Transport the object forward and slightly right while rotating the gripper to fold it


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


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


Apply downward pressure on a key on the right side of the piano while holding nothing


Lower the object downward while holding it


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


Move horizontally toward the object while holding nothing


Push the object slightly forward while maintaining contact and holding nothing


Remain stationary with gripper in contact but not grasping the object


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


Remain stationary with gripper in contact but not grasping, holding position after displacement


Close gripper to grasp the curtain again


Move forward and slightly downward toward the object while holding nothing


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


Move downward and forward toward the object while holding nothing


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


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


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


Press the switch on the far right with the gripper tip while holding nothing


Close gripper to grasp the combined object


Open gripper to place the combined object into the third one


Move forward and downward to approach the object while holding nothing


Close gripper to grasp the object from the object


Open gripper to release the object while positioned above the surface


Move forward and downward toward the toy object while holding nothing


Apply pressure straight forward onto the button on the coffee maker while holding nothing


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


Pull the object backward while maintaining contact without enclosing it


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


Move forward and slightly upward toward the object while holding nothing


Move upward and forward toward the top object while holding nothing


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


Remain stationary with gripper in contact and closed, holding the object front


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


Move leftward and downward to approach the object while holding nothing


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


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


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


Move back downward and left toward the object while holding nothing


Close gripper to grasp the object from the object


Push the object horizontally to the right while maintaining contact without grasping


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


Pull the loose end of the object downward while maintaining contact and holding nothing


Close gripper to grasp the pulled object sheet


Continue pulling the object sheet downward with object held to tear it off the roll


Remain stationary with gripper open above the object


Push the top object forward to close it while holding nothing


Press the power button on the control panel while maintaining contact and applying slight force


Remain stationary with gripper in contact with the control panel


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


Transport the object backward and slightly right while holding it


Move downward and rightward to approach the object while holding nothing


Close gripper to grasp one side of the object


Close gripper again to re-grasp the same side of the object


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


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


Transport the object to the right while holding it


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


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


Reorient the object to scoop contents, then hold steady inside the jar


Lift the object out of the jar and transport it toward the target while holding it


Lower the object over the target and reorient it to release contents


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


Apply gentle downward pressure with the object against the surface while maintaining contact


Move forward and downward to approach the marker while holding nothing


Lift the marker vertically upward while holding it


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


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


Reorient the object by tilting it downward while lowering it toward the surface


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


Lower the object downward into the left object while maintaining grasp


Open gripper to place the object beside the case


Move toward the object while holding nothing


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


Open gripper to place the object outside the object


Open gripper to place the object on the object surface


Move upward and reposition toward the -and- object on the object while holding nothing


Lift the -and- object upward and transport it rightward while holding it


Move forward and downward toward the object while holding nothing


Close gripper to grasp the top flap of the object


Pull the flap upward and slightly rotate the wrist to peel it open while holding it


Lift the opened flap upward and move slightly backward while maintaining hold


Lift the object vertically while transporting it slightly backward and downward


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


Close gripper to grasp the object on the surface


Rotate wrist back to orientation and transport right while holding object


Transport the object backward while rotating wrist to align orientation


Close gripper to grasp the zipper pull while holding nothing initially, transitioning to holding


Pull the zipper upward along the seam while maintaining contact without enclosure


Open gripper to release the zipper pull while holding it, transitioning to holding nothing


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


Move downward and slightly backward toward the object while holding nothing


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


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


Move downward and forward to approach the object while holding nothing


Open gripper to release the object into the other object


Move forward and downward to approach the holder while holding nothing


Close gripper to grasp the first object from the holder


Close gripper to grasp the second object from the holder


Pull the object inward while maintaining contact without grasping


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


Close gripper to grasp another object inside the object


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


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


Maintain grasp and tilt the object downward to pour its contents


Push the object closed with the gripper while holding nothing


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


Close gripper to grasp the object on top of the object


Move forward and upward toward the coffee maker while holding nothing


Push the top object of the coffee maker closed with the gripper while holding nothing


Close gripper to grasp the object while in contact with the object


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


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


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


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


Move forward and downward toward the clothing while holding nothing


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


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


Move forward and downward to approach the object while holding nothing


Pull the object forward while maintaining contact without enclosing it


Move forward and slightly right while holding nothing to approach the coffee maker


Lower the gripper slightly while reorienting the object to seat it properly on the coffee maker


Move toward the object and push it to gather around the object


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


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


Close gripper to grasp the object inside the compartment


Pull the object outward and lift it vertically upward while holding it


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


Transport the object backward while rotating the gripper to align orientation


Open gripper to place the object onto the target


Close gripper to grasp the object from its side


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


Open gripper to release and place the object in position


Lift the object vertically while rotating it to flip its orientation


Transport the object forward and slightly left while continuing to adjust its orientation to


Move forward and upward toward the object while holding nothing


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


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


Transport to the right while rotating wrist to keep the object


Close gripper to grasp an object from inside the object


Move downward and forward toward the object again while holding nothing


Close gripper to grasp another object from inside the object


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


Lift the candy vertically upward while holding it securely


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


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


Pull the object backward to open the object while maintaining contact


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


Open gripper to place the object into the object


Move horizontally to approach the second object on the object while holding nothing


Transport the object horizontally toward the object while holding it


Retract upward while maintaining no contact or hold


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


Move forward and downward toward the bed while holding nothing


Lift the object upward and transport it toward the head of the bed while holding it


Open gripper to release the object onto the bed surface


Move backward and slightly downward to reposition while holding nothing


Open gripper to place the object down smoothly


Move upward and backward to retreat while holding nothing


Move forward and downward toward the object while holding nothing


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


Apply gentle horizontal force to the right while maintaining contact with the object to slide it slightly right


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


Open gripper to place the object onto the base, completing the closure


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


Lower the object into the object while holding it


Open gripper to release the object into the target location


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


Move forward and downward to approach the object while holding nothing


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


Move forward and downward toward the cube-shaped object while holding nothing


Reorient the object by tilting it slightly forward while holding


Push the top object of the cube-shaped object horizontally with gripper contact while holding nothing


Move downward and forward to approach the fork while holding nothing


Transport the fork horizontally toward the object while reorienting it to align for cutting


Push the fork into the object with controlled force while maintaining contact but not holding the object


Hold position steadily while the fork remains inserted in the object


Pull the fork laterally through the object to separate a piece


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


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


Push the object front horizontally to close it while maintaining contact


Apply pressure along the forward direction with no obvious displacement while holding nothing


Lift vertically while rotating wrist to adjust orientation of the held object


Open gripper to release the object into an position


Lift vertically while transporting slightly to the right with object held


Move downward and forward toward the object while holding nothing


Transport the object toward the target while lowering it to deposit contents


Transport the object back toward the object while holding it


Reorient the object downward into the object and pause to position for second scoop


Move the object toward the target again while lowering to deposit second portion


Rotate the object upward to clear residual contents


Lift the object vertically while rotating the gripper freely to align for reorientation


Lift the object vertically while rotating it to change its orientation


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


Push the object across the surface horizontally while maintaining contact


Close gripper to grasp the object inside the object


Open gripper to place the object on the object surface


Retract upward and move toward the object again while holding nothing


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


Move forward and downward toward the pegboard while holding nothing


Close gripper to grasp an object from the pegboard


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


Lift the object vertically upward while holding it


Lower the object downward while holding it


Open gripper to release and place the object on the object


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


Maintain grasp and lift upward while transporting toward the object


Lift the dark object vertically while transporting it slightly backward and to the left


Open gripper to release the dark object onto the surface


Open gripper to release the object onto the surface


Move downward and forward toward the object while holding nothing


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


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


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


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


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


Move forward and upward toward the object while holding nothing


Hold position with the object partially open and no motion


Retract backward and downward away from the object while holding nothing


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


Lower the object downward while maintaining grasp to bring it into contact with the object


Apply downward pressure with the object held to close the object


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


Close gripper to grasp the object on the right arm of the sofa


Lower the object downward toward the left arm of the sofa while holding it


Move forward and slightly downward toward the object while holding nothing


Hold position steadily with gripper still in contact with the object


Continue pulling the object outward to fully open the top object


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


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


Move slightly backward and upward to reposition while holding nothing


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


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


Push the object lever backward while maintaining contact and holding nothing


Remain stationary with no motion detected


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


Apply pressure downward on the target while maintaining contact without holding


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


Lift the grasped object vertically upward while maintaining grip


Move downward and reposition toward another object while holding nothing


Move downward and reposition toward a third object while holding nothing


Hold position with gripper still in contact with the open object


Retract upward and backward away from the object while holding nothing


Rotate wrist freely to reorient gripper for next operation


Remain stationary near the open object with gripper open


Move forward and downward toward the switch panel while holding nothing


Remain stationary with gripper in contact with the switch panel


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


Transport the object to the left and slightly rotate wrist to align for release while holding


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


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


Lift the object bundle upward and transport it to the far right side of the object while holding it


Rotate the object to reorient it while transporting it slightly left and downward


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


Open gripper to release the object into the object


Move downward and forward toward the object front while holding nothing


Pull the object inward horizontally while maintaining contact without enclosure


Maintain grasp and tilt the object downward by rotating the gripper in pitch


Move slightly left and reorient gripper angle while holding nothing


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


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


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


Open gripper to release the object onto the object backrest


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


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


Rotate the object by tilting the gripper downward while holding it


Rotate the object back to orientation while transporting slightly left and backward


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


Move downward and slightly forward to approach a chess piece while holding nothing


Transport the chess piece horizontally to a new position while rotating the gripper to adjust orientation


Lower the chess piece vertically downward toward the target while holding it


Open gripper to release and place the chess piece onto the object


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


Open gripper to place the object inside the object


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


Close gripper to grasp another object from the object


Remain stationary with gripper open above the object


Move downward and slightly forward while holding nothing, adjusting wrist orientation to align with the target object


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


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


Move forward and downward to approach the while holding nothing


Lift the vertically upward while holding it


Transport the to the left while slightly reorienting to keep it


Lower the down and release it at the left edge of the object


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


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


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


Transport the object horizontally to the left while reorienting it to lay on the object surface


Pull the object back toward the right across the object surface while maintaining contact without grasping


Move forward and upward toward the object while holding nothing


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


Open gripper to release the object onto the wall hook


Hold position momentarily after releasing the object


Rotate wrist to orientation and transport back toward original position while holding object


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


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


Lower the object downward toward the object while holding it


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


Transport the object horizontally toward a object while maintaining grip


Lower the object into the object while reorienting it to insert and position for wiping


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


Open gripper to release the object onto the surface


Lower the object into the object and push slightly to scoop contents


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


Reorient the object to tilt it downward and lower it over the target object


Move back toward the stack while holding nothing


Lift vertically upward while maintaining grasp on the second object


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


Open gripper to release the object at the bottom left corner of the surface


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


Hold posture steady to allow pouring to complete


Rotate the object back to orientation while transporting it to the right


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


Lift the object vertically upward while holding it


Lower the object downward toward the object while holding it


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


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


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


Lower the object downward toward the object surface


Transport the object forward toward the object while holding


Rotate wrist to tilt the object downward over the object


Pull the object inward to close the object while maintaining contact


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


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


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


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


Lower the object downward into the object slot while holding it


Open gripper to release the object into the object


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


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


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


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


Move forward and downward toward the rightmost object while holding nothing


Close gripper again to re-grasp the object


Close gripper once more to secure the object


Pull the object further outward to fully open the object while maintaining contact and holding nothing


Move forward and downward to approach the object while holding nothing


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


Transport the object forward while rotating wrist to orient it


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


Transport the object upward and slightly left while rotating wrist to tilt the object for writing


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


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


Transport the object to the left and slightly backward while rotating the wrist to orient the object for scooping


Lower the object into the object and push slightly to scoop contents


Lift the object with contents and transport it toward the object


Open gripper to release the object into the object


Transport the object to the left while slightly reorienting it to maintain stability


Move forward and upward toward the curtain object while holding nothing


Pull the curtain object downward while maintaining contact without enclosure


Reorient the object by folding it while transporting it into the object


Open gripper to release the object inside the object


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


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


Apply backward force while maintaining contact with the object to close the object


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


Move downward and slightly forward to approach the stacking stand while holding nothing


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


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


Retract gripper upward and away from the object while holding nothing


Pull the object inward along its track while maintaining contact with the front


Open gripper to place the object on the object


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


Move forward and downward to approach the tape while holding nothing


Lift the tape vertically upward while holding it


Transport upward and slightly forward while maintaining grasp


Apply pressure to the top right button with the gripper tip while holding nothing


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


Lower the object onto the surface and apply gentle pressure to maintain contact while wiping


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


Move downward and right to approach another part of the object while holding nothing


Close gripper to grasp the remaining portion


Pull the object horizontally to extend it while maintaining contact without grasp


Open gripper to release the object after partial unfolding


Close gripper to grasp a final section of the object


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


Transport the object horizontally toward the object while rotating the wrist to orient the object for scooping


Lift the object with contents and transport it toward the jug


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


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


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


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


Retract downward and backward away from the object while holding nothing


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


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


Move back toward the object while holding nothing


Remain stationary above the workspace with gripper open


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


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


Move forward and downward to approach the object while holding nothing


Lift the object vertically upward while holding it


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


Transport the object horizontally toward the machine while holding it


Move downward and forward to approach the object while holding nothing


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


Close gripper to grasp another object inside the object


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


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


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


Lower the object downward toward the bed while holding it


Remain stationary with gripper in contact near the object lever


Push the object lever to the left while holding nothing


Retract upward and backward away from the object while holding nothing


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


Open gripper to release the object into position


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


Lift the plug vertically upward while holding it


Transport the plug slightly forward while continuing axial rotation to wind the object


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


Transport the object upward and backward while rotating wrist to orient it


Open gripper to place the object on the upper surface


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


Close gripper to grasp the object from the surface


Rotate the gripper to further adjust the object orientation while holding it


Transport the object slightly forward while lifting it upward


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


Continue pulling the object outward while transporting it horizontally away from the object, with object held


Move downward and forward while holding nothing to approach the object


Apply downward pressure on the object while holding nothing to initiate opening


Transport the object sideways while rotating wrist to tilt it upward for opening


Transport the object toward the object while lowering it into the object


Lift the object upward and transport it to the left while maintaining grasp


Transport the object control slightly forward and rotate wrist to align it for pressing


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


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


Lower the object downward and open gripper to place it at the object edge


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


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


Close gripper to grasp the object control


Lift the object control vertically upward while holding it


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


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


Apply pressure downward on the object while holding nothing


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


Open gripper to release the object after positioning it forward


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


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


Open gripper to release the object into the object


Move downward and right to approach the object while holding nothing


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


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


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


Close gripper to grasp the object inside the left object


Lower the object into the right object while maintaining hold


Press the upper toggle switch vertically downward with the gripper while holding nothing


Remain stationary near the switch with gripper in contact, holding nothing


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


Close gripper to grasp one object from the group


Transport the object horizontally toward the object while lowering it into the object


Apply pressure downward on the switch while maintaining contact without holding


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


Transport the object backward while rotating wrist to tilt the object for alignment


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


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


Lower the object downward and release it onto the surface to complete the fold from right to left


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


Lift the light object vertically upward while holding it


Transport the light object to the left while holding it


Apply pressure to the switch on the power strip while holding nothing


Move forward and downward toward the open object while holding nothing


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


Open gripper to place the object on the object


Retract arm backward and downward while holding nothing


Lift the knife vertically upward while holding it


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


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


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


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


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


Lower the object vertically downward while maintaining grasp, positioning it above the object


Open gripper to release and place the object onto the object


Lift the object vertically upward while holding it


Move upward and backward away from the object while holding nothing


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


Lift the inner object vertically upward while holding it


Open gripper to place the object onto the dish object


Retract end-effector upward and slightly right while holding nothing


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


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


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


Apply pressure downward on a button while maintaining contact without displacement


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


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


Move forward and downward toward the object while holding nothing


Push the object backward along the floor while maintaining contact with the backrest


Press the switch downward with the gripper tip while holding nothing


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


Close gripper to grasp the second object from the stack


Close gripper to grasp the last object from the stack


Move downward and forward to approach another object while holding nothing


Close gripper to grasp the top object from the new stack


Close gripper to grasp the last remaining object


Maintain grasp and lift the object vertically upward


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


Open gripper to place the object into the object


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


Maintain grasp and lift the second object vertically upward


Open gripper to place the second object into the object


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


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


Move back toward the dish object while holding nothing


Close gripper to grasp the second object from the dish object


Move downward and slightly left to reposition above the object while holding nothing


Move laterally to the other side of the object while holding nothing


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


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


Close gripper to grasp an object from inside the object


Close gripper to grasp a second object from inside the object


Close gripper to grasp a third object from inside the object


Move toward the object while holding nothing


Close gripper to grasp a fourth object from inside the object