task: Vertically lower the gripper toward the orange cubes, with the gripper closed.


task: Lift the gripper, with the gripper closed.


task: Hover above the top-left corner of the orange cubes, with the gripper closed.


task: Vertically lower the gripper to the orange cube, with the gripper open.


task: Vertically lower the gripper to the table, with the gripper closed.


task: Push two orange cubes away from neighbors, with the gripper closed.


task: Rotate the gripper above the orange cubes to prepare for grasping, with the gripper open.


task: Move the gripper above the target area's center, with the gripper closed.


task: Hover above the top-left corner of the green cubes, with the gripper closed.


task: Rotate the gripper above the green cubes to prepare for grasping, with the gripper open.


task: Vertically lower the gripper toward the green cubes, with the gripper closed.


task: Vertically lower the gripper to the green cube, with the gripper open.


task: Push two green cubes away from neighbors, with the gripper closed.


task: Vertically lower the gripper to the yellow cube, with the gripper open.


task: Hover above the top-left corner of the yellow cubes, with the gripper closed.


task: Vertically lower the gripper toward the yellow cubes, with the gripper closed.


task: Push two yellow cubes away from neighbors, with the gripper closed.


task: Rotate the gripper above the yellow cubes to prepare for grasping, with the gripper open.


task: Rotate the gripper above the blue cubes to prepare for grasping, with the gripper open.


task: Hover above the top-left corner of the blue cubes, with the gripper closed.


task: Vertically lower the gripper toward the blue cubes, with the gripper closed.


task: Vertically lower the gripper to the blue cube, with the gripper open.


task: Push two blue cubes away from neighbors, with the gripper closed.


task: Rotate the gripper above the red cubes to prepare for grasping, with the gripper open.


task: Vertically lower the gripper to the red cube, with the gripper open.


task: Push two red cubes away from neighbors, with the gripper closed.


task: Hover above the top-left corner of the red cubes, with the gripper closed.


task: Vertically lower the gripper toward the red cubes, with the gripper closed.